3D Dubins curves based path programming for mobile sink in underwater sensor networks

3D Dubins curves based path programming for mobile sink in underwater sensor networks

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Mobile data collection is one of research highlights for sparse three-dimensional underwater sensor networks. Therein, optimal or near-optimal cruise trajectory planning of mobile sink is very crucial. A 3D Dubins curves based continuous path programming algorithm (GA-3DTSP in short) for underwater mobile sink with non-holonomic constraints such as well-known autonomous underwater vehicle is proposed. The objective of GA-3DTSP algorithm is to trace sparsely deployed sensor nodes by mobile sink so as to achieve near-optimal energy conservation efficiency. First, an extended 3D Dubins curve is proposed and the length calculation formulae for 3D Dubins curve are investigated. Furthermore, genetic algorithm is used to tackle this difficult NP-complete problem of planning shortest paths in a heuristic manner. Finally, simulation results verify that the proposed GA-3DTSP method can conserve cruise energy of mobile sink effectively.


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