Effect of Nodes Movement on All-Terminal Reliability of Multi-AUV Cooperative System

With the increasingly complex and diversified marine missions, reliability research of multi-autonomous underwater vehicle (AUV) cooperative systems has attracted more and more attention. During the course of completing the task of multi-AUV cooperative system, the status of nodes (AUV) are time-varying, the change of node motion will lead to the change of communication distance among nodes, meanwhile, the Doppler shift occurs, so the reliability of multi-AUV cooperative system is impacted. This paper analyzes the influence of changes in communication distance and Doppler shift caused by the change of node's motion state on the all-terminal reliability of multi-AUV cooperative system, and draws some useful conclusions.