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Routing protocol and operational method for multi-mobile-robot communication network

A mobile robot and routing protocol technology, applied in the field of communication networks, can solve problems such as slow convergence speed and large network bandwidth resource occupation, and achieve the effect of improving the convergence speed

Active Publication Date: 2014-03-12
DALIAN UNIVERSITY
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Problems solved by technology

Routes can be quickly established, but since the entire routing information is carried, the network bandwidth resources are relatively large
[0008] AODV (Ad Hoc On-Demand Distance Vector Routing Ad Hoc on-demand distance vector routing protocol) routing protocol, which combines the advantages of DSDV and DSR, but still does not solve the problem of slow convergence

Method used

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Embodiment Construction

[0023] A routing protocol for a multi-mobile robot communication network of the present invention adopts a fish swarm algorithm and an ant algorithm, the fish swarm algorithm generates pheromones, and the ant algorithm analyzes and routes based on the pheromones generated by the fish swarm algorithm Decision making to choose a path.

[0024] The purpose of adopting the above-mentioned routing protocol is: because the robot needs to move at any time, if the robot system is in a relatively active state of movement, and the ant colony algorithm converges with positive feedback superposition, it has the disadvantage of slow convergence speed. Initially, the pheromone The gap is not obvious, so that the path cannot converge to the optimal solution, and the nodes in the system often move, which makes the system more unstable. The invention adopts the fusion of the fish swarm algorithm to improve the ant colony algorithm. The fish swarm algorithm has the advantage of fast convergence...

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Abstract

The invention relates to a routing protocol and an operational method for a multi-mobile-robot communication network. According to the routing protocol, a fish swarm algorithm and an ant algorithm are adopted. The fish swarm algorithm is used for generating pheromone. The ant algorithm is used for performing analysis and route decision according to the pheromone which is generated through the fish swarm algorithm to select a route.

Description

technical field [0001] The invention relates to a routing protocol and an operation method for a communication network of multiple mobile robots, which are applied in the field of communication networks, and are especially aimed at solving the effective routing of the communication network for multiple mobile robots in a complex environment. Background technique [0002] Judging from the current status of robot technology development, a single robot is not only lacking in information acquisition, processing and control capabilities, but also has insufficient adaptability to work tasks and slightly complicated working environments. Multi-robot systems can cooperate with each other, improve work efficiency and perform more accurate positioning, and are suitable for complex work environments. Therefore, multi-robot systems are an inevitable trend to complete complex tasks. [0003] In multi-robots, the robots need to be synchronized or coordinated through information exchange,...

Claims

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Application Information

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IPC IPC(8): H04W40/02H04W40/10
CPCY02D30/70
Inventor 葛斌刘玲
Owner DALIAN UNIVERSITY
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