Abstract: The dynamic evolution features of Mobile Underwater Wireless Sensor Networks（MUWSNs） restrict the reliability of network topology, which restrains the generalized application of MUWSNs to a great extent. A new topology healing algorithm based on Autonomous Underwater Vehicles（AUVs） is proposed for restoring topology failure of MUWSNs caused by mobility of underwater entities. It constructs a mobility model used to simulate the motion of underwater entities. Taking advantage of the autonomous mobility feature of AUVs, the topology failure of MUWSNs can be restored rapidly. The experimental results show that this algorithm is correct and effective, immensely enhancing the reliability of MUWSNs, and making a great contribution to the research area of MUWSNs’ topology.

Key words: Mobile Underwater Wireless Sensor Networks（MUWSNs）, Autonomous Underwater Vehicles（AUVs）, topology healing, mobility of underwater entities

摘要： 水下移动无线传感器网络（MUWSNs）动态演化特性制约着网络的拓扑的可靠性，很大程度上限制了MUWSNs的推广应用。针对水下实体移动导致的MUWSNs拓扑失效，提出了一种基于自主式水下航行器（AUV）的MUWSNs拓扑愈合算法，并构建了水下实体移动模型，利用AUV自主移动特性对失效拓扑进行快速愈合。仿真结果验证了该算法的正确性和有效性，极大地提高了MUWSNs可靠性，对MUWSNs拓扑领域研究具有一定贡献。

关键词: 水下移动无线传感器网络, 自主式水下航行器, 拓扑愈合, 水下实体移动