IoUT-Enhanced Cooperative Control Scheme for Multiple AUVs With IoT Data Reliability

Multiple autonomous underwater vehicles (AUVs) are being developed to survey marine ecosystems. The main challenge lies in that most of the research focuses on the physical layer of AUVs, but less on the data layer which could contribute significantly to the performance of AUVs. Moreover, there is a lack of shock prevention and post-shock recovery strategies for AUVs. Therefore, to comprehensively analyze the multi-level performance changes of the multiple AUVs, this paper models the physical layer and data layer of the AUVs within the Internet of Underwater Things (IoUT), and the architecture of the corresponding system components based on digital twin technology. After that, we model the IoT data reliability in AUVS. Then, the physical performance evaluation is carried out for different phases of the performance change process in AUVs. To enhance the ability of the multiple AUVs to resist external interference, a multi-stage control scheme is proposed. At last, compared with the generalized scheme, a case simulation shows that the proposed scheme can maximize the protection against external interference. The control scheme leads multiple AUVs to a 6.13% improvement in performance efficiency, the data reliability of 49.66% and 10.95% cost savings in multiple AUVs.