Multi-robot communication networking method based on improved ant colony AODV protocol

A multi-robot and robot technology, applied in the field of wireless communication, can solve the problems of wasting node resources and slow convergence speed, and achieve the effects of reducing routing overhead, increasing throughput, and strong applicability

Active Publication Date: 2018-08-28
NANJING UNIV OF POSTS & TELECOMM
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the early convergence speed of the ant colony algorithm is very s...

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  • Multi-robot communication networking method based on improved ant colony AODV protocol
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  • Multi-robot communication networking method based on improved ant colony AODV protocol

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Embodiment 1

[0043] see figure 1 , this embodiment provides a multi-robot communication networking method based on the improved ant colony AODV protocol, the route discovery stage is as follows figure 2shown, including the following steps:

[0044] S1. The source robot node queries whether there is a route to the destination robot in the robot routing table. If it exists, select the route with the largest routing performance function value for data transmission. Otherwise, the source robot initiates route discovery and sends an improved route to the adjacent robot node. request message;

[0045] S2. Judging whether the robot node receiving the improved routing request message is the destination robot node or has the routing of the destination robot, if so, sends an improved routing response message to the robot node, establishes a forward route, and updates the robot node route on the path table; otherwise, detect intermediate robot nodes;

[0046] S3. Determine whether the intermediat...

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PUM

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Abstract

The invention discloses a multi-robot communication networking method based on an improved ant colony AODV protocol. The method specifically comprises the steps of S1, querying whether a route reaching a target robot exists in a robot route list by a source robot node; S2, judging whether a robot node receiving an improved route request message is the target robot node or the route having the target robot; S3, judging whether an intermediate robot node has route information of the source robot node; S4, cycling the step S3 until the target robot is found; and S5, computing a route performancefunction value according to the parameter of each available route, setting the route with the maximum function value as a main route, and the route with the second maximum function value as a standbyroute. According to the method provided by the invention, through using the AODV protocol in adhoc network and the ant colony algorithm as bases, and comprehensively considering the robot network loadand motion speed, the route performance function is built, the optimal and secondary optimal communication routes are acquired for transmitting data, the end-to-end delay during multi-robot communication is effectively reduced, the throughput capacity is increased, and the route overheads are reduced.

Description

technical field [0001] The invention belongs to the field of wireless communication, and in particular relates to a multi-robot communication networking method based on the improved ant colony AODV protocol. Background technique [0002] An intelligent robot is an intelligent mobile device that integrates many capabilities such as perceiving environmental information, autonomously planning predetermined tasks, and intelligent task control. One of the greatest inventions of the 20th century. With the development of robot technology and the complexity of tasks, the information or ability that a single robot can obtain is limited, and some tasks are very difficult or even impossible for a single robot. Research on multi-robot systems has become a trend. When multi-robots jointly perform tasks, they need to synchronize and coordinate among multi-robots through information exchange. Therefore, the communication network is the basis for exchanging information and cooperation bet...

Claims

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Application Information

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IPC IPC(8): H04W40/02H04W84/18H04L12/703H04L12/707H04L12/751H04L45/02H04L45/24H04L45/28
CPCH04L45/02H04L45/22H04L45/28H04W40/02H04W40/026H04W84/18
Inventor 朱洪波卢钊余雪勇
Owner NANJING UNIV OF POSTS & TELECOMM
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