A low-cost testbed of underwater mobile sensing network

Comprised by a swarm of acoustically linked and cooperative autonomous underwater vehicles (AUV's) with onboard sensors, an underwater mobile sensing network (UMSN) will be a complementary means to fixed observatory networks e.g. seafloor observatory networks and moored buoy arrays. It has obvious advantages over single large AUV in higher efficiency due to parallel observation, stronger robustness to vehicle failures and lower cost. Although an UMSN can be viewed as a counterpart of wireless mobile sensing networks for air and terrestrial applications, it is much more challenging due to poor performance of underwater acoustic communication, poor performance of underwater positioning and high degree of uncertainty in vehicle dynamics and underwater environment. In order to verify key technologies involved in an UMSN, e.g. cooperation of multi-AUV based on acoustic communication, a low cost testbed has been developed for experimental study. The design of both hardware and software is introduced in this paper. Also the results of functional test for verification of the effectiveness of the testbed are presented.