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An increasing number of scholars are researching underwater acoustic sensor networks (UASNs), including the physical layer, the protocols of the routing layer, the MAC layer, and the cross-layer. In UASNs, the ultimate goal is to transmit data from the seabed to the surface, and a well-performed routing protocol can effectively achieve this goal. However, the nodes in the network are prone to drift, and the topology is easily changed because of the movement caused by ocean currents, resulting in a routing void. The data cannot be effectively aggregated to the sink terminal on the surface. Thus, it is extremely important to determine how to find an alternative node as a relay node after node drift and how to rebuild a reliable transmission path. Although many relay routing protocols have been proposed to avoid routing voids, few of them consider the relay node selection between the outage probability and the ocean current model. Therefore, we propose an ocean current motion model based routing (OCMR) protocol to avoid the routing void in UASNs. We predicted underwater node movement based on the ocean current motion model and designed a protection radius to construct a limited search coverage based on the optimal outage probability; then, the node with the best fitness value within the protection radius was selected as the alternative relay node using an improved WOA. In OCMR, the problem of the routing void caused by ocean current motion is effectively suppressed. The simulation results show that, compared with VBF, HH-VBF, and QELAR, the proposed OCMR platform performs well in terms of the PDR (packet delivery ratio), average end-to-end delay, and average energy consumption.

In the past decades, researchers/scientists have paid attention to the physical layer of underwater communications (UWCs) due to a variety of scientific, military, and civil tasks completed beneath water. This includes numerous activities critical for communication, such as survey and monitoring of oceans, rescue, and response to disasters under the sea. Till the end of the last decade, many review articles addressing the history and survey of UWC have been published which were mostly focused on underwater sensor networks (UWSN), routing protocols, and underwater optical communication (UWOC). This paper provides an overview of underwater acoustic (UWA) physical layer techniques including cyclic prefix orthogonal frequency division multiplexing (CP-OFDM), zero padding orthogonal frequency division multiplexing (ZP-OFDM), time-domain synchronization orthogonal frequency division multiplexing (TDS-OFDM), multiple input multiple output orthogonal frequency division multiplexing (MIMO-OFDM), generalized frequency division multiplexing (GFDM), unfiltered orthogonal frequency division multiplexing (UF-OFDM), continuous phase modulation orthogonal frequency division multiplexing (CPM-OFDM), filter bank multicarrier (FBMC) modulation, MIMO, spatial modulation technologies (SMTs), and orthogonal frequency division multiplexing index modulation (OFDM-IM). Additionally, this paper provides a comprehensive review of UWA channel modeling problems and challenges, such as transmission loss, propagation delay, signal-to-noise ratio (SNR) and distance, multipath effect, ambient noise effect, delay spread, Doppler effect modeling, Doppler shift estimation. Further, modern technologies of the physical layer of UWC have been discussed. This study also discusses the different modulation technology in terms of spectral efficiency, computational complexity, date rate, bit error rate (BER), and energy efficiency along with their merits and demerits.

At present, marine autonomous surface ships (MASSs) play a huge role in marine shipping, surveying and mapping, safeguarding the rights and interests of marine space, and other maritime tasks. The cooperative operation of a swarm of MASSs can extend the scope of operation of the MASSs, and thus allow them to carry out more complex tasks. Path tracking is an important problem for the control of a swarm of MASSs. In this paper, the control of underactuated MASSs is decoupled, to control the heading and speed, respectively. First of all, in the path tracking, the improved arc LOS guidance law is introduced, and the heading torque controller is designed, so that the MASS can track the reference path efficiently and accurately. Then the single-path guided path tracking without formation of the swarm of MASSs is studied, the reference path of the swarm center tracking is defined, and the heave thrust controller of the swarm of MASSs is designed based on consensus theory, so that the surge velocity of the MASS can tend towards consistentcy, and finally converge to the desired speed. Finally, the effectiveness of the proposed control strategy is verified by two groups of simulation experiments.

It is essential to promote the intelligence and autonomy of Maritime Autonomous Surface Ships (MASSs). This study proposed an automatic collision-avoidance method based on an improved Artificial Potential Field (APF) with the formation of MASSs (F-MASSs). Firstly, the navigation environment model was constructed by the S-57 Electronic Navigation Chart (ENC) data in Tianjin Port. The Formation Ship State Parameter (FSSP) definition was proposed for the port environment under multiple constraints that considered the navigation conditions of the MASSs. The formation pattern transformation was settled by changing the formation ship state parameter. Considering the constraints of an ‘unmanned–manned’ encounter situation, the static obstacles, and the design of the channel area improved artificial potential method for the formation. Finally, the simulation experiment was carried out in the sea near Tianjin Port to verify the effectiveness of the algorithm under multiple constraints. The results indicate that the method can satisfy the integrated operation of collision avoidance and path following in a constrained environment, and it can support the application of merchant F-MASS autonomous navigation in the future.