To implement the path planning for an Autonomous Underwater Vehicle (AUV) in ns3 has needs to emulate the AUV’s movement via water environment with pre-defined waypoints or a dynamic path planning techniques. Even though ns3 is commonly designed for network simulation so we can extend it to mimic the movement of an AUV by use of mobility models and custom applications. Below are the procedures to generate the simple simulation AUV path planning in ns3.
Step-by-Step Implementation:
Step 1: Setup ns3 Environment
Make sure ns3 is installed on the computer and properly configured.
git clone https://gitlab.com/nsnam/ns-3-dev.git
cd ns-3-dev
./waf configure
./waf build
Step 2: Create the AUV Path Planning Simulation Script
We will create a script that sets up nodes to represent the AUV and configures its movement through waypoints.
#include “ns3/core-module.h”
#include “ns3/network-module.h”
#include “ns3/internet-module.h”
#include “ns3/point-to-point-module.h”
#include “ns3/mobility-module.h”
#include “ns3/applications-module.h”
#include “ns3/waypoint-mobility-model.h”
using namespace ns3;
NS_LOG_COMPONENT_DEFINE(“AuvPathPlanningExample”);
void CourseChange(std::string context, Ptr<const MobilityModel> model)
{
Vector position = model->GetPosition();
NS_LOG_UNCOND(Simulator::Now().GetSeconds() << “s: AUV at (” << position.x << “, ” << position.y << “, ” << position.z << “)”);
}
int main(int argc, char *argv[])
{
CommandLine cmd;
cmd.Parse(argc, argv);
// Create AUV node
NodeContainer auvNode;
auvNode.Create(1);
// Install mobility model with waypoints
MobilityHelper mobility;
Ptr<ListPositionAllocator> positionAlloc = CreateObject<ListPositionAllocator>();
positionAlloc->Add(Vector(0.0, 0.0, 0.0));
positionAlloc->Add(Vector(100.0, 0.0, 0.0));
positionAlloc->Add(Vector(100.0, 100.0, 0.0));
positionAlloc->Add(Vector(0.0, 100.0, 0.0));
positionAlloc->Add(Vector(0.0, 0.0, 0.0));
mobility.SetPositionAllocator(positionAlloc);
mobility.SetMobilityModel(“ns3::WaypointMobilityModel”);
mobility.Install(auvNode);
// Set waypoints for the AUV
Ptr<WaypointMobilityModel> waypoints = auvNode.Get(0)->GetObject<WaypointMobilityModel>();
waypoints->AddWaypoint(Waypoint(Seconds(0.0), Vector(0.0, 0.0, 0.0)));
waypoints->AddWaypoint(Waypoint(Seconds(10.0), Vector(100.0, 0.0, 0.0)));
waypoints->AddWaypoint(Waypoint(Seconds(20.0), Vector(100.0, 100.0, 0.0)));
waypoints->AddWaypoint(Waypoint(Seconds(30.0), Vector(0.0, 100.0, 0.0)));
waypoints->AddWaypoint(Waypoint(Seconds(40.0), Vector(0.0, 0.0, 0.0)));
// Log position changes
Config::Connect(“/NodeList/*/$ns3::MobilityModel/CourseChange”, MakeCallback(&CourseChange));
// Install internet stack
InternetStackHelper stack;
stack.Install(auvNode);
// Create a point-to-point link to simulate communication (optional)
NodeContainer p2pNodes;
p2pNodes.Add(auvNode.Get(0));
p2pNodes.Create(1);
PointToPointHelper pointToPoint;
pointToPoint.SetDeviceAttribute(“DataRate”, StringValue(“5Mbps”));
pointToPoint.SetChannelAttribute(“Delay”, StringValue(“2ms”));
NetDeviceContainer devices;
devices = pointToPoint.Install(p2pNodes);
Ipv4AddressHelper address;
address.SetBase(“10.1.1.0”, “255.255.255.0”);
Ipv4InterfaceContainer interfaces = address.Assign(devices);
// Run the simulation
Simulator::Stop(Seconds(50.0));
Simulator::Run();
// Clean up
Simulator::Destroy();
return 0;
}
Step 3: Compile and Run the Simulation
- Compile the Simulation:
./waf configure –enable-examples
./waf build
Run the Simulation:
./waf –run scratch/auv-path-planning-example
Step 4: Analyse Results
The simulation script sets up an AUV node with a waypoint mobility model and simulates its movement through predefined waypoints. The positions of the AUV are logged as it moves through the waypoints.
Additional Considerations
To extend the functionality of your AUV path planning simulation, consider the following:
1. Dynamic Path Planning Algorithms
To permit the AUV to make real-time decisions based on sensor data or environmental conditions were executed dynamic path planning methods.
2. Environmental Factors
To create a more realistic simulation integrate environmental factors like currents, obstacles, and variable water conditions.
3. Communication Network
To coordinate their movements and share data were simulated a communication network among multiple AUVs or between AUVs and surface nodes
4. Energy Consumption
Model the energy consumption of the AUV to study the impact of different path planning strategies on the vehicle’s battery life.
5. Data Collection and Analysis
Simulate data collection missions where the AUV gathers sensor data and transmits it back to a base station for analysis.
We had knowledgeable about how the path planning for an Autonomous Underwater Vehicle will employed and performed in ns3 tool. We also make available further information related to path planning for an Autonomous Underwater Vehicle.
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