自主/遥控水下机器人水面/水下通信协议设计与实现

为了解决自主/遥控水下机器人（ARV）水面控制台与水下载体之间的通信问题，设计并实现了一种基于分层结构的水面/水下通信协议。该协议根据ARV 通信特殊需求，分为应用层，数据链路层与物理层，各层之间通过事件路由的方式进行调用，层内协议规则通过有限状态机来描述，整个协议结构清晰。ARV 实验结果证明这一通信协议具有传输速率快，可靠性高等优点。

In order to solve the problem of communication between autonomous & remotely operated vehicle (ARV) and surface controller, A sort of communication protocol based on hierarchical structure is designed and achieved. Answering the especial requirement of ARV communication, the protocol is divided into application layer, data link layer and physical layer, the function in each layer is called by event routing, the protocol rule is described by the finite state machine, the structure of whole protocol is clear. The results of ARV experiment prove that the communication protocol has a faster transfer rate and high reliability.

国家863 计划资助项目（2007AA09Z122）