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This paper investigates the task assignment and path planning problem for multiple AUVs in three dimensional (3D) underwater wireless sensor networks where nonholonomic motion constraints of underwater AUVs in 3D space are considered. The multi-target task assignment and path planning problem is modeled by the Multiple Traveling Sales Person (MTSP) problem and the Genetic Algorithm (GA) is used to solve the MTSP problem with Euclidean distance as the cost function and the Tour Hop Balance (THB) or Tour Length Balance (TLB) constraints as the stop criterion. The resulting tour sequences are mapped to 2D Dubins curves in the X − Y plane, and then interpolated linearly to obtain the Z coordinates. We demonstrate that the linear interpolation fails to achieve G 1 continuity in the 3D Dubins path for multiple targets. Therefore, the interpolated 3D Dubins curves are checked against the AUV dynamics constraint and the ones satisfying the constraint are accepted to finalize the 3D Dubins curve selection. Simulation results demonstrate that the integration of the 3D Dubins curve with the MTSP model is successful and effective for solving the 3D target assignment and path planning problem.

Multiple-input multiple-output (MIMO) underwater acoustic (UWA) channels introduce both space-time interference (STI) and time-varying phase distortion for transmitted signals. In such cases, the equalized symbols produced by conventional equalizer aiming for STI cancelation suffer phase rotation and thus cannot be reliably detected. In this paper, we propose a new equalization scheme for high data rate single carrier MIMO UWA channels. Different from existing methods employing joint equalization and symbolwise phase tracking technology, the proposed scheme decouples the interference cancelation (IC) operation and the phase compensation operation, leading to a generalized equalizer structure combining an IC equalizer with a phase compensator. The decoupling of the two functionalities leads to robust signal detection, which is most desirable in practical UWA applications. MIMO linear equalizer (LE) is adopted to remove space-time interference, and a groupwise phase estimation and correction method is used to compensate the phase rotation. In addition, the layered space-time processing technology is adopted to enhance the equalization performance. The proposed equalization scheme is tested to be very robust with extensive experimental data collected at Kauai, Hawaii, in September 2005, and Saint Margaret's Bay, Nova Scotia, Canada, in May 2006.