A mechanism of topology optimization for underwater acoustic sensor networks based on autonomous underwater vehicles

Limited energy, high mobility, and unsteady acoustic communication links render the underwater acoustic sensor networks subject to performance reduction. To solve this problem, a topology optimization method, also called TO-A algorithm, is developed based on topology reconfiguration. First, the proposed method optimizes the coverage rate of underwater acoustic sensor networks by adjusting the location of sensor nodes through simulating fish behaviors. Second, to optimize the connectivity of underwater acoustic sensor networks, the proposed method, using edge nodes, repairs disconnected positions and eliminates key nodes in underwater acoustic sensor networks. Third, a topology optimization strategy, also called TO-DA algorithm, is developed for Double-autonomous underwater vehicles to improve the robustness and adaptability of the network topology. When the inherent law of underwater acoustic sensor networks topology formation is further found, the method for optimizing network topology is proposed, which based on the triangle principle eliminates those key nodes and can help with the survivability of network regeneration. The method proves reasonable and valid by stimulation and contrast examinations. The comparison of TO-A algorithm and TO-DA algorithm shows that under low energy consumption, TO-A algorithm can keep the network coverage at about 97% for a long time, connectivity rate above 89%, while the TO-DA algorithm can improve the survivability of the network by above 50% at the expense of 8.5% of the network coverage.