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Improved AODV routing protocol for closed apple orchard multi-robot communication

A multi-robot and routing protocol technology, applied in wireless communication, manipulators, program-controlled manipulators, etc., can solve the problems of reducing the performance of multi-robot communication systems in closed apple orchards, increasing the packet loss rate of communication links, and reducing routing stability. , to achieve the effect of improving packet delivery rate, improving performance, and reducing RREQ flooding

Pending Publication Date: 2021-02-26
NORTHWEST A & F UNIV
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Problems solved by technology

However, the broadcast storm problem existing in the routing request process of the traditional AODV protocol can easily lead to problems such as increased packet loss rate of communication links, reduced routing stability, increased network overhead, and increased time delay, thereby reducing the multi-robot communication in a closed apple orchard. system performance

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  • Improved AODV routing protocol for closed apple orchard multi-robot communication

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Embodiment Construction

[0029] Below in conjunction with accompanying drawing, the present invention will be described in further detail:

[0030] Such as figure 1 As shown, Type is the packet type, Reserved is a reserved field for future protocol expansion, HopCount is used to record the number of hops between the node that processes the RREQ packet and the source node, RREQ ID is the routing request information identifier, and each RREQ packet has Corresponding to the unique RREQ ID, Destination IP Address represents the destination node address, Destination Sequence Number is the destination sequence number, which is used to record the maximum sequence number of all routes passing the destination node in the source node’s original routing table, and Originator IP Address is the source node’s IP address, OriginatorSequence Number is the sequence number of the source node. Based on the RREQ packet format of the original AODV protocol, the RREQ packet of the AODV-SP protocol adds the source node x-a...

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Abstract

The invention discloses an improved AODV routing protocol for closed apple orchard multi-robot communication, and the protocol specifically comprises the steps: S1, introducing a parameter ''prioritynode'' (i.e., a node in an effective communication range R of a source node or an intermediate node) at a routing discovery stage, only enabling the priority node to forward an RREQ packet, and enabling the value of R to be adjusted according to the node density in a network; and S2, in a route discovery stage, introducing a node signal strength threshold eta ij, adding a path signal strength threshold eta in the RREP packet, and after the RREP is forwarded to a source node, selecting an optimal route to communicate with a destination node by the source node according to the value of eta. On the basis of an AODV protocol, on the basis of a complex closed apple orchard operation environment, the priority node and the path signal intensity threshold value serve as consideration factors in the routing request process, the routing initiation frequency, the routing overhead and the average end-to-end time delay are effectively reduced, the packet delivery rate is increased, and the performance of the closed apple orchard multi-robot communication system is improved.

Description

technical field [0001] The invention belongs to the technical field of multi-robot communication in orchards, and in particular relates to an improved AODV routing protocol for multi-robot communication in a closed apple orchard. Background technique [0002] my country is the largest apple production and consumption country in the world. Apple planting has promoted the poverty alleviation of Chinese farmers and promoted the economic development of our country. However, the main planting mode of apple orchards in my country is still low and closed. This kind of orchard has luxuriant branches and leaves, crossing branches between plants, and low canopy. For fruit farmers cooperatives and large-scale apple growers, the management of orchards in a closed environment is still mainly manual, with heavy tasks and high labor costs. Therefore, it is imminent to vigorously develop orchard automation, improve orchard operation efficiency, and reduce labor costs. [0003] Because the...

Claims

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Application Information

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IPC IPC(8): H04W40/02H04W40/10H04W40/12H04W40/22B25J9/16
CPCH04W40/023H04W40/10H04W40/12H04W40/22B25J9/161
Inventor 杨福增刘恒毛文菊郭鹏举
Owner NORTHWEST A & F UNIV
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