基于NS2的多机器人通信协议改进

Improvement of Multi-robot Communication Protocol Based on NS2

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。

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 lowpacket 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.