Network control method, device, equipment, medium and product

Abstract

The invention provides a network control method, device, equipment, medium and product, which are applied to the technical field of wireless ad hoc networks, and the method comprises the following steps: determining a current mobile node and a leadership index of a neighbor node of the current mobile node by obtaining a neighbor table and based on the neighbor table; carrying out leader node election according to the leader indexes of the current mobile node and the neighbor nodes of the current mobile node so as to determine the identity of the current mobile node; and under the condition that the current mobile node is the leader node, sending a guiding instruction to a following node in the current subnet corresponding to the leader node so as to guide the following node in the current subnet. According to the method, the leadership index is calculated according to the neighbor table, the leader node election is performed, and the guide instruction is sent to the following node in the subnet through the leader node, so that the distributed adaptive topology management of the wireless ad hoc network in the high dynamic environment is realized, and the risk of single node failure is avoided.

Description

Technical Field

[0001] This invention relates to the field of wireless ad hoc network technology, and in particular to a method, apparatus, device, medium and product for network control. Background Technology

[0002] Currently, wireless ad hoc network technology is widely used in dynamic scenarios such as disaster relief and vehicle-to-everything (V2X) communication. Among related technologies, there are two solutions for wireless ad hoc networks, but both have the following drawbacks: Option 1, which adopts a centralized approach, manages the network through cluster head rotation. However, if a cluster head runs out of energy or is attacked, it can lead to a complete network outage and pose a single point of failure risk.

[0003] Option 2, which adopts a distributed approach and relies on random forwarding to maintain connectivity (such as AODV and DSR protocols), has disadvantages such as high latency in topology adjustment and slow convergence speed in large-scale networks. It is also prone to topology fragmentation when nodes move frequently, has weak anti-interference capabilities, and poses a risk of single point of failure. Summary of the Invention

[0004] In view of the above problems, a method, apparatus, device, medium, and product for network control are proposed to overcome or at least partially solve the above problems, including: A network control method, applied to the current mobile node, includes: Obtain the neighbor table, and based on the neighbor table, determine the leadership index of the current mobile node and its neighboring nodes; A leader node election is conducted based on the leadership index of the current mobile node and its neighboring nodes to determine the identity of the current mobile node; If the current mobile node is the leader node, a guidance instruction is sent to the following nodes in the current subnet corresponding to the leader node to guide the following nodes in the current subnet.

[0005] Optionally, based on the neighbor table, the leadership index of the current mobile node and its neighboring nodes is determined, including: Based on the neighbor table, determine multiple influencing parameter factors of the current mobile node and its neighboring nodes; The leadership index of the current mobile node and its neighboring nodes is determined based on the multiple influencing parameter factors.

[0006] Optionally, the plurality of influencing parameter factors include any one or more of the following: energy factor, location stability factor, and communication capability factor; The energy factor is determined based on the current remaining energy, the position stability factor is determined based on the movement speed, and the communication capability factor is determined based on path loss.

[0007] Optionally, the leadership index of the current mobile node and its neighboring nodes is determined based on the plurality of influencing parameter factors, including: Obtain historical leadership index; The leadership indices of the current mobile node and its neighboring nodes are determined based on the multiple influencing parameter factors and the historical leadership index.

[0008] Optionally, the guidance instruction carries a target position offset, which is used to guide the following node in the current subnet to move; And / or, the guidance instruction carries a communication parameter adjustment suggestion, which is used to guide the following nodes in the current subnet to adjust their communication parameters.

[0009] Optionally, the method further includes: If the current mobile node is the leader node, and a follower node in the current subnet is detected to be disconnected, then other follower nodes in the current subnet are notified to perform a local re-search.

[0010] Optionally, the method further includes: If the current mobile node is the leader node, a subnet merge request is sent through the boundary mobile node to attempt to merge the current subnet with other subnets; The boundary moving node belongs to both the current subnet and other subnets.

[0011] Optionally, the subnet merging request carries the leadership index of the leader node, and the method further includes: Based on the leadership index of the leader node of the current subnet and other subnets, determine whether it is necessary to merge the current subnet and other subnets; If it is necessary to merge the current subnet with other subnets, then the leader node after merging is determined based on the leadership index of the leader node of the current subnet and other subnets, and the current subnet and other subnets are merged based on the merged leader node. If it is not necessary to merge the current subnet with other subnets, then communication between the current subnet and other subnets is established through the gateway node.

[0012] Optionally, the method further includes: When the current mobile node is a follower node, it receives guidance instructions sent by the leader node and responds to the guidance instructions; wherein, if guidance instructions are received from multiple leader nodes, the effective leader node is determined from the multiple leader nodes according to the leadership index of the multiple leader nodes, and the guidance instructions sent by the effective leader node are responded to.

[0013] Optionally, the method further includes: If the current mobile node is a follower node, and the leader node is detected to be disconnected, the leadership index of the current mobile node and its neighboring nodes is re-determined, and a new leader node election is conducted.

[0014] A network control device, applied to a current mobile node, comprising: The leadership index determination module is used to obtain a neighbor table and, based on the neighbor table, determine the leadership index of the current mobile node and its neighboring nodes. The leader node election module is used to elect a leader node based on the leadership index of the current mobile node and its neighboring nodes, so as to determine the identity of the current mobile node. The node guidance module is used to send guidance instructions to the following nodes in the current subnet corresponding to the leader node when the current mobile node is the leader node, so as to guide the following nodes in the current subnet.

[0015] An electronic device includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the method described above.

[0016] A computer-readable storage medium on which a computer program is stored, which, when executed by a processor, implements the method described above.

[0017] A computer program product includes a computer program that, when executed by a processor, implements the method described above.

[0018] The embodiments of the present invention have the following advantages: In this embodiment of the invention, a neighbor table is obtained, and based on the neighbor table, the leadership index of the current mobile node and its neighboring nodes is determined. A leader node election is performed based on the leadership index of the current mobile node and its neighboring nodes to determine the identity of the current mobile node. If the current mobile node is the leader node, a guidance instruction is sent to the following nodes in the current subnet corresponding to the leader node to guide the following nodes in the current subnet. This achieves distributed adaptive topology management of wireless ad hoc networks in highly dynamic environments by calculating the leadership index based on the neighbor table, electing a leader node, and sending guidance instructions to the following nodes in the subnet through the leader node, thereby avoiding the risk of single-node failure. Attached Figure Description

[0019] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a flowchart of the steps of a network control method provided in some embodiments of the present invention; Figure 2 This is a flowchart of the steps of a second method for network control provided in some embodiments of the present invention; Figure 3 This is a flowchart of the steps of a network control method three provided in some embodiments of the present invention; Figure 4 This is a structural block diagram of a network control device provided in some embodiments of the present invention. Detailed Implementation

[0021] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0022] In related technologies, there are two solutions for wireless ad hoc networks, but they have the following drawbacks: Option 1, employing a centralized approach, manages the network through cluster head rotation. However, if a cluster head runs out of energy or is attacked, it can lead to a complete network outage, posing a single point of failure risk. The alternative is a cluster head election through node competition. Ordinary nodes send data to the cluster head, which then integrates the data and forwards it to the base station. A new cluster head election only occurs when the cluster head runs out of energy or its work cycle ends.

[0023] Option 2, employing a distributed approach that relies on random forwarding to maintain connectivity (such as AODV and DSR protocols), suffers from drawbacks including high latency and slow convergence in large-scale networks, potential topology fragmentation due to frequent node movement, weak anti-interference capabilities, and the risk of single-point failures. Specifically, distributed approaches (such as AODV and DSR protocols) rely on nodes randomly selecting the next hop to forward data. The source node broadcasts a route request (RREQ), selects a path upon receiving a response, and chooses the next hop based on a probabilistic model (such as greedy forwarding or probabilistic routing). Then, it checks link status via Hello messages, triggering rerouting upon failure.

[0024] Based on this, this invention proposes a network control method that mimics the self-organizing rules of biological groups (such as local information exchange, role division, and collaborative decision-making). Nodes can autonomously adjust their behavior without global information to form a stable group structure. Furthermore, a leadership index is introduced into the swarm intelligence rules, taking into account multiple dimensions such as energy, location, and communication capabilities, to solve the problem of poor adaptability of group rules (such as simply imitating bird flock formations) in self-organizing networks in related technologies.

[0025] For example, based on the self-organizing behavior of biological groups (such as flocks of birds or ant colonies), a three-tiered rule system can be designed: Nodes construct a dynamic neighbor table by exchanging state information (location, energy, load) with local neighbors. Based on the neighbor table information, nodes autonomously calculate a "leadership index" (taking into account energy, location, and stability) and dynamically elect or adjust temporary leader nodes. Then, following nodes adjust their behavior according to the leader's instructions, forming a subnet centered on the leader. When the leader fails, nodes quickly re-elect and take over the guidance task through group rules.

[0026] Furthermore, in the implementation of this invention, nodes do not require a central server and autonomously elect / replace leaders through local information interaction, avoiding single points of failure and supporting the elastic expansion of large-scale networks. Subnet merging is achieved through the cooperation of boundary mobile nodes, combined with a rapid election strategy in the event of leader node failure, which improves the robustness of the network in dynamic environments and enables the network to maintain connectivity, robustness, and energy efficiency in large-scale, highly dynamic scenarios.

[0027] Reference Figure 1 The diagram illustrates a flowchart of a network control method provided by some embodiments of the present invention, applied to a current mobile node.

[0028] As some examples, a mobile node can be a device node in a wireless ad hoc network that has the ability to move autonomously, dynamically adjust its position, and participate in network topology management (such as a drone or a mobile robot).

[0029] In practical applications, the current mobile node can be any mobile node in the wireless ad hoc network.

[0030] Specifically, it may include the following steps: Step 101: Obtain the neighbor table, and based on the neighbor table, determine the leadership index of the current mobile node and its neighboring nodes.

[0031] As examples, in wireless ad hoc networks, mobile nodes can build dynamic neighbor tables by periodically broadcasting or listening to the status information of neighboring nodes (such as mobile node ID, location, energy, communication quality information, etc.) to describe the adjacency relationships and status parameters between nodes.

[0032] The leadership index is a dynamic evaluation value derived from neighbor table information by calculating the comprehensive performance of nodes in multiple dimensions such as energy, stability, and communication capabilities. It is used to elect leader nodes and guide topology management.

[0033] In practical applications, each mobile node can designate itself as the current mobile node, and neighboring nodes can be other mobile nodes within the current mobile node's communication range. Since mobile nodes can continuously move, neighbor relationships can be dynamically updated over time and with changes in location (e.g., mobile node A's neighbor B can become mobile node C due to movement).

[0034] In the specific implementation, an initial neighbor table can be pre-built; for example... Figure 2 As shown, when the current mobile node joins the network, it can be initialized and then broadcast a "Hello" message (such as mobile node ID, location, remaining energy, communication range information, etc.). After receiving the message, the neighboring nodes reply with an "Ack" message. The current mobile node can collect the status information of the neighboring nodes and build an initial neighbor table. Subsequently, all mobile nodes can periodically (e.g., every 5 seconds) broadcast status update messages to update the dynamic information of the neighbor table (such as location changes, energy consumption information, etc.).

[0035] In practical applications, the current mobile node can obtain a pre-built neighbor table from the local machine, determine the status information of the current mobile node and its neighboring nodes from the neighbor table, and then calculate multiple influence parameters based on the status information to determine the leadership index of the current mobile node and its neighboring nodes.

[0036] In some embodiments of the present invention, determining the leadership index of the current mobile node and its neighboring nodes includes: Sub-step 11: Based on the neighbor table, determine multiple influence parameter factors of the current mobile node and its neighboring nodes.

[0037] In practical applications, multiple influencing parameters are multidimensional indicators used to quantitatively evaluate the comprehensive capabilities of mobile nodes in topology management. These can include energy factors, location stability factors, and communication capability factors, and serve as the basis for decisions such as leader node election and path planning.

[0038] In some embodiments of the present invention, the plurality of influencing parameter factors include any one or more of the following: energy factor, location stability factor, and communication capability factor; wherein the energy factor is determined based on the current remaining energy, the location stability factor is determined based on the movement speed, and the communication capability factor is determined based on path loss.

[0039] As some examples, the energy factor can be determined based on the node's current remaining energy, the node's minimum working energy threshold, and the node's full-charge energy value; the location stability factor can be determined based on the node's average moving speed and dynamic attenuation coefficient over a period of time (e.g., 10 minutes); and the communication capability factor can be determined based on the average path loss and service quality correction coefficient over the past 5 minutes.

[0040] For example, multiple influence parameter factors of the current mobile node and its neighboring nodes can be calculated using the following formula: Energy factor E_norm = (E_current - E_min) / (E_max - E_min); where E_norm refers to the energy factor, E_current refers to the current remaining energy of the node (unit: joules), E_min refers to the minimum working energy threshold of the node (e.g., the node has 1% remaining power), and E_max refers to the full power value of the node.

[0041] Taking a drone swarm as an example, each drone is equipped with a lithium polymer battery with a capacity of 100Wh (360,000 joules). The minimum operating energy threshold is set at 10% of full charge. Calculations show that: When a node is fully charged, E_norm=1. After running for a period of time (assuming half the power is consumed), E_norm=0.5. When it reaches 10% of its full power, E_norm=0 (at this point, although the node can still work, it has no redundant power and cannot be elected as the leader node). The position stability factor S_dyn = 1 - (V_avg × T_decay); where S_dyn refers to the position stability factor, V_avg refers to the average moving speed (m / s) over a period of time, and T_decay refers to the dynamic decay coefficient (assuming this period is 300s, then T_decay = 0.002); T_decay = 1 / (V_avg × t), where t refers to time, and the value of T_decay can be calculated from the average speed and time.

[0042] For example, in disaster relief scenarios, search and rescue drone swarms need to scan as large an area of ​​the disaster zone as possible within the critical rescue time. During missions, the swarm's cruising speed is not constant but dynamically adjusted based on real-time environmental feedback. When a potential survivor area is detected or a high-priority data request is received from another drone, the swarm accelerates towards that area. Drones that arrive at the survivor area first slow down (indicating minimal change in their position). Based on the position stability factor formula, drones with a smaller V_avg are more likely to be elected as the leader node, and can then send higher-priority data requests to their neighboring nodes.

[0043] Communication capability factor C_adj = (1-PL_avg) × QoS_adj; where C_adj refers to the communication capability factor, PL_avg refers to the average path loss (dB) in the past 5 minutes, and QoS_adj refers to the service quality correction factor (the factor can be set by yourself: such as real-time service ×1.2, non-real-time service ×1.0).

[0044] Path loss refers to the power attenuation caused by distance and obstacles during signal propagation. Nodes can periodically send probe packets, and nodes or terminals receiving probe packets can calculate RSSI (Received Signal Strength Indicator) / RSRP (Reference Signal Receiving Power).

[0045] Sub-step 12: Determine the leadership index of the current mobile node and its neighboring nodes based on the multiple influencing parameter factors.

[0046] After determining multiple influencing parameters of the current mobile node and its neighboring nodes, the leadership index of the current mobile node and its neighboring nodes can be calculated based on the energy factor, location stability factor, and communication capability factor among the multiple influencing parameters, combined with the weighting coefficients.

[0047] like Figure 2As shown, each currently moving node can calculate its own and its neighbors' Leadership Index (LI) based on the neighbor table: LI = (α × E_norm) + (β × S_dyn) + (γ × C_adj); where α, β, and γ are dynamically adjustable weighting coefficients depending on the scenario, but they must satisfy the condition α + β + γ = 1; E_norm refers to the energy factor, S_dyn refers to the position stability factor, and C_adj refers to the communication capability factor; for scenarios with strict energy requirements, the value of α can be set higher; for scenarios with high requirements for position movement speed, β can be set higher; and for scenarios with requirements for the communication environment, γ can be set higher.

[0048] As some examples, the weighting coefficient parameter α can be calculated using the following formula: The weight coefficient α(t) = α_base × [1 + η × (E_avg - E_current) / E_avg]; where α_base refers to the base weight (e.g., 0.4, set according to the actual situation), η refers to the energy sensitivity coefficient (e.g., 0.3, set according to the actual situation), E_avg refers to the current average energy of the subnet, and E_current refers to the current remaining energy of the node.

[0049] In practical applications, β and γ can be determined according to the actual situation in a fixed ratio, combined with the dynamic adjustment of α; such as satisfying the condition α+β+γ=1.

[0050] In some embodiments of the present invention, determining the leadership index of the current mobile node and its neighboring nodes based on the plurality of influence parameter factors includes: obtaining historical leadership indices; and determining the leadership index of the current mobile node and its neighboring nodes based on the plurality of influence parameter factors and the historical leadership index.

[0051] In practical applications, the historical leadership index refers to the leadership index value of a mobile node in the previous time period (such as the previous 30 minutes), reflecting its long-term network contribution capability and stability.

[0052] After determining the leadership index of the current mobile node and its neighboring nodes based on multiple influencing factors, the leadership index can be updated with weights. That is, the leadership index calculated based on multiple influencing factors is combined with the historical leadership index and the memory factor to perform a weighted update of the leadership index, resulting in the updated leadership index.

[0053] For example, the leadership index can be updated with a time-weighted formula as follows: Updated Leadership Index (LI) (t) =λ×LI (t-1) +(1-λ)×LI_new; where LI (t) This refers to the leadership index updated with a time-weighted mechanism; λ refers to the memory factor (e.g., 0.1, set according to actual circumstances); and LI... (t-1) LI_new refers to the leadership index at the previous moment, while LI_new refers to the leadership index calculated based on multiple influencing parameter factors. Time weighting can suppress the impact of instantaneous changes in the state of a node on the leadership index assessment, preventing sudden situations from interfering with a sudden increase or decrease in a certain value.

[0054] Step 102: Elect a leader node based on the leadership index of the current mobile node and its neighboring nodes to determine the identity of the current mobile node.

[0055] As examples, the optimal node can be selected as the leader node based on the leadership index of the current mobile node itself and its neighboring nodes, according to preset rules (such as averaging the leadership indices of the neighboring nodes to obtain the average leadership index, and then comparing the current mobile node's own leadership index with the average leadership index). The roles can include leader node and follower node. Each current mobile node can become a leader node when its leadership index is greater than or equal to the average leadership index of its neighboring nodes, and can become a follower node (i.e., a mobile node in the subnet other than the leader node) when its leadership index is less than the leadership index of its neighboring nodes.

[0056] like Figure 2 As shown, a node compares its own LI value (the leadership index of the node that moved forward) with the LI value of its neighbors (the average leadership index of the neighboring nodes). If its own LI value is greater than or equal to the average LI value of its neighbors, it is elected as the leader node; otherwise, it becomes a follower node.

[0057] In the above embodiments, nodes do not require a central server and autonomously elect / replace leader nodes through local information exchange, thereby avoiding single points of failure and supporting elastic expansion of large-scale networks.

[0058] Step 103: If the current mobile node is the leader node, send a guidance instruction to the following nodes in the current subnet corresponding to the leader node to guide the following nodes in the current subnet.

[0059] Once the identity of the current mobile node is determined, corresponding tasks can be executed based on the node's identity. For example, if the current mobile node is the leader node, guidance instructions can be sent to the following nodes in the current subnet corresponding to the leader node to guide the following nodes in the current subnet, such as guiding the following nodes in the current subnet to move; and / or guiding the following nodes in the current subnet to adjust communication parameters.

[0060] As examples, the current subnet refers to a local network centered on a leader node, divided by communication range (such as RSSI threshold) or task relevance, where nodes can interact directly. Guiding instructions refer to the instructions sent by the leader node to the following nodes, which may include parameters such as target location, movement speed, task priority, and communication.

[0061] When the current mobile node is the leader node, before sending the guidance instruction to the follower nodes in the current subnet corresponding to the leader node, it can also calculate the coverage area of ​​the current subnet with itself as the center, and then send the guidance instruction to the follower nodes in the coverage area. The guidance instruction can also carry the target position offset and communication parameter adjustment suggestions.

[0062] In some embodiments of the present invention, the guidance instruction carries a target position offset, which is used to guide the following node in the current subnet to move; and / or, the guidance instruction carries a communication parameter adjustment suggestion, which is used to guide the following node in the current subnet to adjust its communication parameters.

[0063] In practical applications, the leader node can calculate the coverage area of ​​the current subnet based on the location information of the follower nodes, taking the leader as the center and a circular area with a radius of R. Then, the leader node sends guidance instructions to the follower nodes, such as target location offset (e.g., "move 10 meters to the northwest") or communication parameter adjustment suggestions (e.g., "reduce transmission power to reduce interference").

[0064] As examples, the target location offset can be determined based on the relative positions of following nodes and the leader node in the current subnet, as well as network topology requirements. For instance, when optimizing network coverage, an appropriate offset can be calculated and set based on the distribution of following nodes, allowing them to move to more suitable locations, thereby improving the overall network performance and stability.

[0065] Among them, the communication parameter adjustment suggestions can be determined based on path loss between nodes, node density, interference level, service type priority, node mobility, and energy efficiency.

[0066] In some embodiments of the present invention, the method further includes: if the current mobile node is the leader node, and a follower node in the current subnet is detected to be disconnected, then other follower nodes in the current subnet are notified to perform a local re-search.

[0067] In practical applications, if a follower node loses contact (failure to respond within a timeout period), it may be due to a fault, being out of communication range, or running out of energy. In such cases, the leader node can activate the corresponding emergency handling mechanism by sending a local re-search command to other follower nodes in the current subnet, allowing these nodes to search within a certain range and attempt to re-establish contact with the lost follower node.

[0068] As examples, the leader node can also record relevant information about lost follower nodes, such as the time of loss of contact and their last known location.

[0069] In some embodiments of the present invention, the method further includes: when the current mobile node is the leader node, sending a subnet merge request through a boundary mobile node to attempt to merge the current subnet with other subnets; wherein the boundary mobile node belongs to both the current subnet and other subnets.

[0070] As examples, a boundary mobile node can be a mobile node that belongs to two or more subnets at the same time and has cross-subnet communication capabilities because its mobile or communication range covers multiple subnet areas.

[0071] A subnet merge request can be a cross-subnet coordination instruction initiated by the leader node through a boundary moving node. The subnet merge request can include the subnet identifier, the reason for merging (such as task relevance, communication efficiency optimization), and the parameters of the merged subnet (such as the new leader node election rules, task allocation strategy, etc.).

[0072] Other subnets can be adjacent subnets that overlap with the current subnet or are associated with tasks, or subnets managed by other leader nodes.

[0073] For example, in forest fire monitoring, UAV subnet A (responsible for fire source location) and subnet B (responsible for personnel evacuation guidance) have overlapping coverage areas and related tasks. In order to optimize monitoring efficiency, the leader node A1 of UAV subnet A can initiate a subnet merging request through the boundary UAV C to reconstruct the subnet topology.

[0074] In some embodiments of the present invention, the subnet merging request carries the leadership index of the leader node, and the method further includes: Sub-step 21: Based on the leadership index of the leading nodes of the current subnet and other subnets, determine whether it is necessary to merge the current subnet and other subnets.

[0075] As examples, when a network experiences subnet topology splits due to node movement, energy depletion, or environmental interference, dynamic topology self-healing can be performed on the current subnet. The leadership index of the leading node of the current subnet and other subnets can be compared with a preset leadership index threshold to determine whether the current subnet and other subnets need to be merged.

[0076] When a network experiences topology splits due to node movement, energy depletion, or environmental interference, the leader nodes of each subnet collaborate through boundary mobile nodes to send subnet merge requests in order to attempt to merge the current subnet with other subnets. Boundary mobile nodes can broadcast subnet merge requests to each neighboring node, carrying the leadership index of their respective subnet's leader node.

[0077] If the leadership index of the leader node of the current subnet and other subnets is less than the leadership index threshold, then there is no need to merge the current subnet with other subnets. If the leadership index of the leader node of the current subnet and other subnets is greater than the leadership index threshold, then there is a need to merge the current subnet with other subnets.

[0078] As examples, if the Leadership Index (LI) values ​​of both leader nodes are below the leadership index threshold, the subnets should remain independent, adjacency relationships should be recorded, and cross-subnet communication should be achieved through a gateway node (such as a mobile rescue robot). If one leader node's LI value is below the leadership index threshold, the leader node of the higher-LI subnet can absorb the follower nodes from the leader node of the lower-LI subnet, and then the lower-LI subnet nodes will re-elect a leader. If there is no qualified leader in the lower-LI subnet, the election threshold can be lowered to elect a new leader node.

[0079] Sub-step 22: If it is necessary to merge the current subnet with other subnets, then determine the merged leader node based on the leadership index of the leader node of the current subnet and other subnets, and merge the current subnet with other subnets based on the merged leader node.

[0080] As examples, during the subnet merging process, the leadership index of the leader node of the current subnet and other subnets can be compared with a pre-set leadership index threshold to determine the leader node of the merged subnet and perform the merging operation, that is, to merge the current subnet with other subnets.

[0081] For example, if the preset leadership index threshold is 0.7, the leadership index corresponding to the leadership node A1 of subnet A is 0.9, and the leadership index corresponding to the leadership node B1 of subnet B is 0.5, then the leadership node A1 can be used as the leader node after merging, and a merging operation can be performed to merge subnet A and subnet B.

[0082] As examples, if the leadership indices of the two subnets' leader nodes (leader node A1 of subnet A has a leadership index of 0.9 and leader node B1 of subnet B has a leadership index of 0.8) are both higher than the leadership index threshold (e.g., 0.7), the leader node with the higher leadership index (i.e., leader node A1) can be selected as the new leader node after merging. The follower nodes of the atomic network B can be redistributed to the new subnet A+B and managed by leader node A1.

[0083] In practical applications, when the boundary mobile nodes of two subnets meet, they exchange the leadership index of the leader node of their respective subnets. Then, they compare the leadership index with the leadership index threshold. The subnet members (follower nodes) of the leader node with the lower leadership index will automatically be assigned to the leader node with the higher leadership index, and the original follower nodes will be reassigned to the new subnet.

[0084] In the above embodiments, subnet merging is achieved through cooperation of boundary mobile nodes, and a rapid election strategy is combined with the failure of the leader node to improve the robustness of the network in dynamic environments, so that the network can maintain connectivity, robustness and energy efficiency in large-scale, highly dynamic scenarios.

[0085] Sub-step 23: If it is not necessary to merge the current subnet with other subnets, then establish communication between the current subnet and other subnets through the gateway node.

[0086] As examples, if the LI values ​​(leadership index) of both leader nodes are below the leadership index threshold, the subnet should remain independent. This means that there is no need to merge the current subnet with other subnets. Adjacency relationships can be recorded, and then cross-subnet communication between the current subnet and other subnets can be achieved through a gateway node (such as a mobile rescue robot).

[0087] In some embodiments of the present invention, the method further includes: when the current mobile node is a follower node, receiving a guidance instruction sent by a leader node and responding to the guidance instruction; wherein, if multiple leader nodes send guidance instructions, determining the effective leader node from the multiple leader nodes according to the leadership index of the multiple leader nodes, and responding to the guidance instruction sent by the effective leader node.

[0088] In practical applications, when a follower node receives a guidance instruction from the leader node, it can respond to the guidance instruction by making corresponding adjustments based on the target position offset (such as "move 10 meters to the northwest") or communication parameter adjustment suggestions (such as "reduce transmission power to reduce interference").

[0089] Follower nodes adjust their movement direction or communication parameters according to guidance instructions, prioritizing direct connection with the leader node; if guidance instructions are received from multiple leader nodes (e.g., in an area with overlapping subnets), the leader node with the highest LI value (Leadership Index) can be selected. As examples, when a leader node sends a bootstrapping instruction, it can attach its own leadership index as metadata to the message header. After receiving the bootstrapping instruction, follower nodes can update the leader node's leadership index in their local neighbor table.

[0090] In some examples, if a follower node detects a significant drop in the leadership index of the leader node (such as below the leadership index threshold), a local election process can be triggered. This process involves taking the follower node as the current mobile node, re-determining the leadership index of the current mobile node and its neighboring nodes, and re-electing a leader node to determine the identity of the current mobile node.

[0091] In some embodiments of the present invention, the method further includes: if the current mobile node is a follower node and a leader node is detected to be disconnected, then the leadership index of the current mobile node and its neighboring nodes is re-determined, and a new leader node election is performed.

[0092] In practical applications, when the leader node loses contact (does not receive messages for 3 consecutive cycles), an emergency leader election process can be triggered. The following node becomes the current mobile node, the leadership index of the current mobile node and its neighboring nodes is re-determined, a new leader node is elected to confirm the identity of the current mobile node, and the topology information is synchronized.

[0093] In this embodiment of the invention, a neighbor table is obtained, and based on the neighbor table, the leadership index of the current mobile node and its neighboring nodes is determined. A leader node election is performed based on the leadership index of the current mobile node and its neighboring nodes to determine the identity of the current mobile node. If the current mobile node is the leader node, a guidance instruction is sent to the following nodes in the current subnet corresponding to the leader node to guide the following nodes in the current subnet. This achieves distributed adaptive topology management of wireless ad hoc networks in highly dynamic environments by calculating the leadership index based on the neighbor table, electing a leader node, and sending guidance instructions to the following nodes in the subnet through the leader node, thereby avoiding the risk of single-node failure.

[0094] Reference Figure 3 The diagram illustrates a flowchart of another network control method provided by some embodiments of the present invention, applied to the current mobile node.

[0095] Specifically, it may include the following steps: Step 301: Obtain the neighbor table, and based on the neighbor table, determine the leadership index of the current mobile node and its neighboring nodes.

[0096] Step 302: Elect a leader node based on the leadership index of the current mobile node and its neighboring nodes to determine the identity of the current mobile node.

[0097] Step 303: If the current mobile node is the leader node, send a guidance instruction to the following nodes in the current subnet corresponding to the leader node to guide the following nodes in the current subnet.

[0098] Step 304: If the current mobile node is the leader node, and a follower node in the current subnet is detected to be disconnected, then other follower nodes in the current subnet are notified to perform a local re-search.

[0099] In this embodiment of the invention, a neighbor table is obtained, and based on the neighbor table, the leadership index of the current mobile node and its neighboring nodes is determined. A leader node election is performed based on the leadership index of the current mobile node and its neighboring nodes to determine the identity of the current mobile node. If the current mobile node is the leader node, a guidance instruction is sent to the following nodes in the current subnet corresponding to the leader node to guide the following nodes in the current subnet. This achieves distributed adaptive topology management of wireless ad hoc networks in highly dynamic environments by calculating the leadership index based on the neighbor table, electing a leader node, and sending guidance instructions to the following nodes in the subnet through the leader node, thereby avoiding the risk of single-node failure.

[0100] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0101] Reference Figure 4 The diagram shows a schematic representation of a network control device provided in some embodiments of the present invention, applied to a current mobile node.

[0102] Specifically, it can include the following modules: The leadership index determination module 401 is used to obtain a neighbor table and, based on the neighbor table, determine the leadership index of the current mobile node and its neighboring nodes. The leader node election module 402 is used to elect a leader node based on the leadership index of the current mobile node and the neighboring nodes of the current mobile node, so as to determine the identity of the current mobile node. The node guidance module 403 is used to send guidance instructions to the following nodes in the current subnet corresponding to the leader node when the current mobile node is the leader node, so as to guide the following nodes in the current subnet.

[0103] In some embodiments of the present invention, the leadership index determination module 401 includes: The influence parameter factor determination submodule is used to determine multiple influence parameter factors of the current mobile node and its neighboring nodes based on the neighbor table. The leadership index calculation submodule is used to determine the leadership index of the current mobile node and its neighboring nodes based on the multiple influencing parameter factors.

[0104] In some embodiments of the present invention, the plurality of influencing parameter factors include any one or more of the following: energy factor, location stability factor, and communication capability factor; The energy factor is determined based on the current remaining energy, the position stability factor is determined based on the movement speed, and the communication capability factor is determined based on path loss.

[0105] In some embodiments of the present invention, the leadership index calculation submodule includes: Historical Leadership Index Acquisition Unit, used to acquire historical leadership index; The leadership index combination unit is used to determine the leadership index of the current mobile node and its neighboring nodes based on the multiple influencing parameter factors and the historical leadership index.

[0106] In some embodiments of the present invention, the guidance instruction carries a target position offset, which is used to guide the following node in the current subnet to move; And / or, the guidance instruction carries a communication parameter adjustment suggestion, which is used to guide the following nodes in the current subnet to adjust their communication parameters.

[0107] In some embodiments of the present invention, the apparatus further includes: The follower node detection module is used to notify other follower nodes in the current subnet to perform a local re-search if the current mobile node is the leader node and a follower node in the current subnet is detected to be disconnected.

[0108] In some embodiments of the present invention, the apparatus further includes: The subnet merging attempt module is used to send a subnet merging request through the boundary mobile node when the current mobile node is the leader node, so as to attempt to merge the current subnet with other subnets; The boundary moving node belongs to both the current subnet and other subnets.

[0109] In some embodiments of the present invention, the subnet merging request carries the leadership index of the leader node, and the apparatus further includes: The subnet merging judgment module is used to determine whether the current subnet and other subnets need to be merged based on the leadership index of the leader node of the current subnet and other subnets. The subnet merging module is used to determine the merged leader node based on the leadership index of the leader nodes of the current subnet and other subnets when it is necessary to merge the current subnet and other subnets; and to merge the current subnet and other subnets based on the merged leader node. The gateway node communication module is used to establish communication between the current subnet and other subnets through the gateway node when it is not necessary to merge the current subnet with other subnets.

[0110] In some embodiments of the present invention, the apparatus further includes: The guidance instruction response module is used to receive guidance instructions sent by the leader node when the current mobile node is a follower node, and to respond to the guidance instructions; wherein, if guidance instructions sent by multiple leader nodes are received, the effective leader node is determined from the multiple leader nodes according to the leadership index of the multiple leader nodes, and the guidance instructions sent by the effective leader node are responded to.

[0111] In some embodiments of the present invention, the apparatus further includes: The leader node re-election module is used to, when the current mobile node is a follower node, if the leader node is detected to be disconnected, redetermine the leadership index of the current mobile node and its neighboring nodes, and re-elect the leader node.

[0112] In this embodiment of the invention, a neighbor table is obtained, and based on the neighbor table, the leadership index of the current mobile node and its neighboring nodes is determined. A leader node election is performed based on the leadership index of the current mobile node and its neighboring nodes to determine the identity of the current mobile node. If the current mobile node is the leader node, a guidance instruction is sent to the following nodes in the current subnet corresponding to the leader node to guide the following nodes in the current subnet. This achieves distributed adaptive topology management of wireless ad hoc networks in highly dynamic environments by calculating the leadership index based on the neighbor table, electing a leader node, and sending guidance instructions to the following nodes in the subnet through the leader node, thereby avoiding the risk of single-node failure.

[0113] Some embodiments of the present invention also provide an electronic device, including a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the method described above.

[0114] Some embodiments of the present invention also provide a computer-readable storage medium on which a computer program is stored, and which, when executed by a processor, implements the method described above.

[0115] Some embodiments of the present invention also provide a computer program product, including a computer program that, when executed by a processor, implements the method described above.

[0116] As the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0117] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0118] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0119] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0120] Embodiments of the present invention are described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0121] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0122] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0123] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0124] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes the aforementioned element.

[0125] The above provides a detailed description of the network control method, apparatus, device, medium, and product. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for network control, characterized in that, Applied to the current mobile node, including: Obtain the neighbor table, and based on the neighbor table, determine the leadership index of the current mobile node and its neighboring nodes; A leader node election is conducted based on the leadership index of the current mobile node and its neighboring nodes to determine the identity of the current mobile node; If the current mobile node is the leader node, a guidance instruction is sent to the following nodes in the current subnet corresponding to the leader node to guide the following nodes in the current subnet.

2. The method according to claim 1, characterized in that, Based on the neighbor table, the leadership index of the current mobile node and its neighboring nodes is determined, including: Based on the neighbor table, determine multiple influencing parameter factors of the current mobile node and its neighboring nodes; The leadership index of the current mobile node and its neighboring nodes is determined based on the multiple influencing parameter factors.

3. The method according to claim 2, characterized in that, The multiple influencing parameter factors include any one or more of the following: energy factor, location stability factor, and communication capability factor; The energy factor is determined based on the current remaining energy, the position stability factor is determined based on the movement speed, and the communication capability factor is determined based on path loss.

4. The method according to claim 2, characterized in that, Based on the multiple influencing parameter factors, the leadership index of the current mobile node and its neighboring nodes is determined, including: Obtain historical leadership index; The leadership indices of the current mobile node and its neighboring nodes are determined based on the multiple influencing parameter factors and the historical leadership index.

5. The method according to any one of claims 1-4, characterized in that, The guidance instruction carries a target position offset, which is used to guide the following nodes in the current subnet to move. And / or, the guidance instruction carries a communication parameter adjustment suggestion, which is used to guide the following nodes in the current subnet to adjust their communication parameters.

6. The method according to any one of claims 1-4, characterized in that, The method further includes: If the current mobile node is the leader node, and a follower node in the current subnet is detected to be disconnected, then other follower nodes in the current subnet are notified to perform a local re-search.

7. The method according to any one of claims 1-4, characterized in that, The method further includes: If the current mobile node is the leader node, a subnet merge request is sent through the boundary mobile node to attempt to merge the current subnet with other subnets; The boundary moving node belongs to both the current subnet and other subnets.

8. The method according to claim 7, characterized in that, The subnet merging request carries the leadership index of the leader node, and the method further includes: Based on the leadership index of the leader node of the current subnet and other subnets, determine whether it is necessary to merge the current subnet and other subnets; If it is necessary to merge the current subnet with other subnets, then the leader node after merging is determined based on the leadership index of the leader node of the current subnet and other subnets, and the current subnet and other subnets are merged based on the merged leader node. If it is not necessary to merge the current subnet with other subnets, then communication between the current subnet and other subnets is established through the gateway node.

9. The method according to any one of claims 1-4, characterized in that, The method further includes: When the current mobile node is a follower node, it receives guidance instructions sent by the leader node and responds to the guidance instructions; wherein, if guidance instructions are received from multiple leader nodes, the effective leader node is determined from the multiple leader nodes according to the leadership index of the multiple leader nodes, and the guidance instructions sent by the effective leader node are responded to.

10. The method according to any one of claims 1-4, characterized in that, The method further includes: If the current mobile node is a follower node, and the leader node is detected to be disconnected, the leadership index of the current mobile node and its neighboring nodes is re-determined, and a new leader node election is conducted.

11. A network-controlled device, characterized in that, Applied to the current mobile node, including: The leadership index determination module is used to obtain a neighbor table and, based on the neighbor table, determine the leadership index of the current mobile node and its neighboring nodes. The leader node election module is used to elect a leader node based on the leadership index of the current mobile node and its neighboring nodes, so as to determine the identity of the current mobile node. The node guidance module is used to send guidance instructions to the following nodes in the current subnet corresponding to the leader node when the current mobile node is the leader node, so as to guide the following nodes in the current subnet.

12. An electronic device, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the method as described in any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the method as described in any one of claims 1 to 10.

14. A computer program product, characterized in that, It includes a computer program that, when executed by a processor, implements the method as described in any one of claims 1 to 10.

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