摘要： AOMDV协议采用路由跳数为选择标准，在用于无人机自组网时存在链路不稳定和路由修复效率低的问题。为此，提出基于节点差异的路由协议ND-AOMDV。通过GPS获得无人机的方向和速度，以速度为向量构建无人机组模型。在此基础上，通过比较无人机速度向量的变化，选择节点差异最小的路径作为路由路径，并在路由修复时从断裂处寻找上下游节点能量最高的共同邻居节点重建链路。仿真结果表明，ND-AOMDV可有效增强路由稳定性和网络性能，与AOMDV和PE-AOMDV协议相比，其剩余能量分别提高42.7%、35.1%，平均端到端时延分别降低90.3%、89.5%，路由恢复频率分别降低79.1%、79.7%，路由开销分别降低50.3%、26.9%。

关键词: 无人机自组网, AOMDV协议, 速度向量, 节点差异, 共同邻居节点, 路由修复

Abstract: In Unmanned Aerial Vehicle Ad hoc Network(UAVANET),the AOMDV protocol that adopts the number of hops as selection criteria can result in unstable links and inefficient route repair.To address the problem,this paper proposes a routing protocol ND-ADMDV based on node difference.The direction and speed of UAVs are obtained by using GPS,and the model of the UAV group is built with the speed as vector.On this basis,the changes in the speed vectors of UAVs are compared,and the path with least node differences is taken as route path.The common neighbor node with highest energy of upstream and downstream nodes will be searched for around where the link is broken,so as to re-established the link.Simulation results show that ND-AOMDV can effectively improve the routing stability and network performance.Compared with the AOMDV and PE-AOMDV protocols,the residual energy of ND-AOMDV can be increased by 42.7% and 35.1% respectively,average end-to-end delay reduced by 90.3% and 89.5%,route repair frequency reduced by 79.1% and 79.7%,and routing cost reduced by 50.3% and 26.9%.

Key words: Unmanned Aerial Vehicle Ad hoc Network(UAVANET), AOMDV protocol, velocity vector, node difference, common neighbor node, route repair

中图分类号: 

• TP391