一种改进的群组机器人网络路由算法

An Improved Routing Algorithm for Group Robot Networks

针对群组机器人系统在应急场景下移动频繁、能量有限的特点,提出了一种基于能量与速度的分簇自组织按需距离矢量协议(Clustered Ad hoc On-Demand Distance Vector Protocol Based on Energy and Speed,ESC-AODV),以延长群组机器人网络运行时间,提高通信可靠性。用路由性能代替跳数作为路由判据,目的节点在重复接收到路由请求(Route Request,RREQ)数据包时,若路由性能更小,则回复路由应答(Routing Reply,RREP)数据包,以此选择更好的路由,引入分簇结构,通过簇头和网关组成的骨干网络减少广播洪泛次数。实验结果证明,节点数量多时,改进的ESC-AODV协议在延长网络生存时间的同时,平均端到端时延、数据包投递率、吞吐量和路由开销均优于AODV以及基于能量、负载和速度的AODV路由协议(AODV Routing Protocol Based on Energy,Load and Speed,ELS-AODV)。ESC-AODV协议能够节约网络能量,提高可靠性,获得更优的网络性能。

Considering the characteristics of frequent mobility and limited energy of group robot system in emergency scenario,a cluster routing protocol Clustered Ad hoc On-Demand Distance Vector Protocal Based on Energy and Speed(ESC-AODV)with cross-layer and multi-metric path selection is proposed to extend the running time of group robot network and improve the communication reliability.Routing performance is used instead of hop count as the routing criterion.When the destination node repeatedly receives Route Request(RREQ)packets,if the routing performance is smaller,it replies with Routing Reply(RREP)packets.In this way,the destination node selects a better route and introduces a cluster structure to reduce the number of broadcast flooding through the backbone network consisting of cluster headers and gateways.The experimental results show that with a large number of nodes,the improved ESC-AODV protocol has better average end-to-end delay,packet delivery rate,throughput and routing overhead than AODV and AODV Routing Protocols Based on Energy,Load and Speed(ELS-AODV),and the network lifetime is also extended.The ESC-AODV protocol can save network energy,improve reliability,and obtain better network performance.