中文摘要：

使用水下机器人组网编队可以在更开阔的海域完成环境信息收集、区域搜索与快速环境感知等使命。为提高编队通信效率，研究了水声通信条件下多水下机器人组网通讯的方法。在多水下机器人的分层通信结构中，基于拓扑网络结构建立了信道传输模型。根据传输模型，对于距离领航员AUV节点较远而距离其他跟随AUV较近的节点采用线性拓扑传输方式，而对于其他AUV节点采用一对多竞争拓扑传输方式。在线性拓扑传输的自适应MAC协议中，领航员AUV和所有的跟随AUV通过广播与应答的方式实现时间同步，之后跟随AUV节点根据距离领航员AUV和数据传输的效果选择负责外围节点的通信或休眠，这就降低了领航AUV的能量消耗，提高了整个AUV编队组网的生存时间。而一对多竞争的自适应MAC协议包含了一种改进的握手机理，该协议可以降低传输的丢包率并提高网络的吞吐量。与AUV编队结合的通信仿真表明了该方法的先进性和有效性。

英文摘要：

In order to improve communication efficiency, hydroacoustic network communication was re- searched. In the hierarchical communication structure,transmission model of the acoustic channel was es- ablished on the basis of network topology. Acorrding to the model,linear topology communication was ap- plied for the objective AUV far away from leader AUV but closer to other AUVs, while a one to many con- tending topology communication was applied for other AUVs. In the adaptive MAC protocol of linear topol- ogy,leader AUV sends time synchronize packets to others through broadcast, then objective nodes decide the communication or sleep off external nodes according to the distance of leader AUV as well as the effect of data transmission, which reduce the energy consumption of leader AUV and improve survival lifetime for the whole AUV network communication. On the other hand, one-to-many contention based adaptive MAC protocol includes an improved handshaking prove throughput of the network. Simulations with tiveness of the research. mechanism,which can reduce packets loss rate and im- multi-AUV formation illustrate advancement and effec-tiveness of the research.