Please use this identifier to cite or link to this item: https://doi.org/10.15480/882.4506
Publisher DOI: 10.1145/3376921
Title: AHOI: Inexpensive, low-power communication and localization for underwater sensor networks and μAUVs
Language: English
Authors: Renner, Bernd-Christian 
Heitmann, Jan 
Steinmetz, Fabian 
Keywords: Acoustic; Ahoi; AUV; Communication; Localization; Modem; Swarm; Underwater
Issue Date: Jan-2020
Publisher: ACM
Source: ACM Transactions on Sensor Networks 2 (16): 18 (2020-01)
Abstract (english): 
The recent development of small, cheap AUVs enables a plethora of underwater near- and inshore applications. Among these are monitoring of wind parks, detection of pollution sources, water-quality inspection, and the support of divers during disaster management. These tasks profit from online reporting, control, and AUV swarm interaction; yet they require underwater communication. Unfortunately, commercial devices are prohibitively expensive and typically closed-source, hampering their application in affordable products and research. Therefore, we developed the open-source1 ahoi acoustic modem. It is (i) small enough to be carried by micro AUVs, (ii) consumes little enough energy to not diminish operation times of its host, (iii) comes at an attractive unit cost below $600, (iv) can reliably communicate at distances of 150 m and more, and (v) supports ranging without additional hardware. Due to its modular build, the modem can be customized and is suitable as research platform to analyze, e.g., MAC and routing protocols. We conducted extensive real-world studies and present results of communication range, packet reception rate, ranging accuracy, and efficient and reliable self-localization. Finally, we draw conclusions regarding acoustic communication, ranging, and localization with inexpensive and low-power devices that go beyond a particular device. Our study, hence, encompasses general insights, observations, and recommendations.
URI: http://hdl.handle.net/11420/5220
DOI: 10.15480/882.4506
ISSN: 1550-4859
Journal: ACM transactions on sensor networks 
Institute: smartPORT E-EXK2 
Document Type: Article
Project: Mobile Sensor Network for Autonomous and Large-Area Underwater Localization and Identification of Hazards in Ports and Inland Waters 
Verbundprojekt: MarTERA-RoboVaaS - Robotic Vessels as-a-Service; Vorhaben: Robuste und effiziente mobile Ultraschall-Unterwasserkommunikation 
License: CC BY 4.0 (Attribution) CC BY 4.0 (Attribution)
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