A consensus based handover scheme for autonomous underwater vehicle swarms in underwater acoustic sensor networks

Hyeon-Gi Kim; Si-Yeong Park; Jong-Won Lee; Ho-Shin Cho

doi:10.7776/ASK.2025.44.3.193

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2025 Vol.44, Issue 3 Preview Page Next Page

Research Article

A consensus based handover scheme for autonomous underwater vehicle swarms in underwater acoustic sensor networks 수중 음향 센서 네트워크에서 자율무인잠수정 군집의 합의 기반 핸드오버 기법

31 May 2025. pp. 193-201

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Abstract

This paper proposes a novel underwater handover mechanism based on clusters, designed to ensure continuous connectivity for Autonomous Underwater Vehicle (AUV) swarms. The proposed method leverages a consensus algorithm, enabling all nodes within the swarm to participate in the process of making handover decisions. Instead of relying on centralized control by a specific node, the nodes within the swarm achieve consensus through 1-hop message exchanges, determining whether to attempt a handover based on the agreement reached. Simulation results show that the AUV swarm successfully determines handover decisions in accordance with channel conditions and swarm mobility through consensus while minimizing unnecessary handovers. Compared to the conventional method, where a single AUV makes independent handover decisions, the proposed approach demonstrates performance improvements of approximately 30.12 % in energy consumption and 8.89 % in Signal to Noise Ratio (SNR).

Keywords

Swarm handover

Consensus algorithm

Underwater acoustic network

Autonomous Underwater Vehicle (AUV)

본 논문은 자율무인잠수정(Autonomous Underwater Vehicle, AUV) 군집의 지속적인 연결을 보장하기 위한 새로운 군집 단위 수중 핸드오버 기법을 제시한다. 제안된 기법은 합의 알고리즘을 활용하여, 군집 내 모든 노드들이 핸드오버 결정 과정에 참여할 수 있도록 설계되었다. 따라서 특정 노드의 중앙 제어 없이, 군집 내 노드 간 1-hop 메시지 교환으로 합의를 이루고 이를 통해 핸드오버의 시도 여부를 결정한다. 모의실험 결과, AUV 군집은 채널 상태와 군집의 이동성에 부합하는 핸드오버 여부를 합의를 통해 판단하며, 불필요한 핸드오버를 최소화하였다. 기존 방식인 단일 AUV의 단독 결정 방식에 비해 제안된 기법은 에너지 소모량에서 약 30.12 %, 신호 대 잡음비(Signal to Noise Ratio, SNR)에서 약 8.89 % 개선된 성능을 보였다.

키워드

군집 핸드오버

합의 알고리즘

수중 음향 네트워크

자율무인잠수정

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Information

Publisher :The Acoustical Society of Korea
Publisher(Ko) :한국음향학회
Journal Title :The Journal of the Acoustical Society of Korea
Journal Title(Ko) :한국음향학회지
Volume : 44
No :3
Pages :193-201
Received Date : 2025-02-11
Revised Date : 2025-03-07
Accepted Date : 2025-03-31
DOI :https://doi.org/10.7776/ASK.2025.44.3.193

The Journal of the Acoustical Society of KoreaISSN:1225-4428(Print) 2287-3775(Online)한국음향학회

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