计算机工程

• 移动互联与通信技术 • 上一篇    下一篇

基于NS2的多机器人通信协议改进

武占,张云伟   

  1. (昆明理工大学信息工程与自动化学院,昆明 650504)
  • 收稿日期:2015-06-01 出版日期:2016-03-15 发布日期:2016-03-15
  • 作者简介:武占(1989-),男,硕士研究生,主研方向为无线网络通信;张云伟(通讯作者),教授、博士。
  • 基金项目:

    国家自然科学基金资助项目“城市地下煤气管网检测机器人队列协作与控制研究”(51365019)。

Improvement of Multi-robot Communication Protocol Based on NS2

WU Zhan,ZHANG Yunwei   

  1. (Faculty of Information Engineering and Automation,Kunming University of Science and Technology,Kunming 650504,China)
  • Received:2015-06-01 Online:2016-03-15 Published:2016-03-15

摘要:

在多机器人系统通信应用中,Ad Hoc自组网中的AODV路由协议在网络拓扑结构变化较快时存在分组投递率低、通信延时高等缺点。为此,提出一种改进的AODV路由协议AODVH。在AODVH路由协议中,源节点根据综合跳数和节点速度加权运算得出的路由代价选择路由,同时源节点维护一条备用路由,并且每次根据路由代价的大小将最优的设置为主路由,次优的设置为备用路由。以NS2为平台进行仿真分析,结果表明,与AODV路由协议相比,改进的路由协议能提高分组投递率,降低归一化路由开销和平均端到端延时。

关键词: 多机器人通信, 无线网络, 网络仿真, 路由协议, 路由代价

Abstract:

In the application of multi-robot system communication,the Ad Hoc On-demand Distance Vector(AODV) routing protocol in Ad Hoc network has some disadvantages such as the low packet delivery ratio,the high communication delay when the network topology changes quickly.This paper proposes an optimized AODV routing protocol AODVH.In AODVH routing protocol,the source node chooses route based on routing cost which is the weighted calculation of the hop count and node speed,at the same time the source node maintains a backup route.Every time it makes sure that the optimal is the main route and the suboptimal is the backup route.This paper analyses the result of simulations based on NS2.According to the simulations,the optimized protocol can improve the packet delivery ratio,and reduce the normalized overhead and average end-to-end delay.

Key words: multi-robot communication, wireless network, network simulation, routing protocol, routing cost

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