机器人自组网的运动控制模型仿真研究

Simulation of Movement Control Model in Ad hoc Robot Networks

机器人自组网具有较高的军事和民用价值;基于机器人通用运动学模型,对传统自组网的节点运动模型——随机路点和随机方向移动模型进行了修改,为机器人自组网中的节点建立了运动控制模型,并建立了机器人自组网的网络模型,对几种运动模型进行了仿真分析;结果表明,在机器人自组网的仿真场景中网络性能有所恶化;达到了较为真实地仿真机器人自组网的目的,得出的结论对机器人自组网的仿真研究具有一定的参考价值。

Ad hoe robot networks have high military and civil value. Based on the general movement control model of robots, the tradi- tional mobility models of ad hoc networks--Random Waypoint and Random Direction were modified, movement control model of the nodes in ad hoc robot networks was established, the network model of ad hoc robot networks was setup, and the mobility models were simulated and analyzed. The result showed that the performance of ad hoc robot network was worse. The paper has simulated ad hoc robot network more realistically. The conclusion has some value in the simulation of ad hoc robot networks.