Due to the road-constrained data delivery and highly dynamic topology of vehicle nodes in a Vehicular Ad Hoc Network (VANET), it is better to construct routing based on the road-to-road pattern than the traditional no...Due to the road-constrained data delivery and highly dynamic topology of vehicle nodes in a Vehicular Ad Hoc Network (VANET), it is better to construct routing based on the road-to-road pattern than the traditional node-to-node routing pattern in MANETs. However, the challenging issue is the opportunistic forwarding at intersections. Therefore, we propose a novel routing scheme, called Buffer and Switch (BAS). In BAS, each road buffers the data packets with multiple duplicates propagation in order to provide more opportunities for packet switching at intersections. Different from conventional protocols in VANETs, the propagation of duplicates in BAS is bidirectional along the routing path. Moreover, BAS's cost is much lower than other flooding-based protocols due to its spatio-temporally controlled duplicates propagation. Different from recent researches, BAS can deliver packets not only to a stationary node, but also to the stationary or mobile nodes in a specified area. We conduct the extensive simulations to evaluate the performance of BAS based on the road map of a real city collected from Google Earth. The simulation results show that BAS can outperform the existing protocols, especially when the network resources are limited.展开更多
In the paper, we concentrate on the infl uence of heterogeneity on the performance of forwarding algorithms under opportunistic networks. Therefore, we first describe two different heterogeneous network models, and ca...In the paper, we concentrate on the infl uence of heterogeneity on the performance of forwarding algorithms under opportunistic networks. Therefore, we first describe two different heterogeneous network models, and capture the heterogeneity which concern mobile nodes' contact dynamics under the individual models and the spatial models. Then we investigate inter-contact time is not fully follow exponential distribution and compare the performance of the delivery delay between direct forwarding protocol and three-hop forwarding protocol under three network models. We illustrate the performance of message delivery delay under the spray and wait protocol and prophet protocol from simulation results. Our simulation results show that the heterogeneity should be considered for the performance of forwarding protocols.展开更多
In this paper, we study the kinematic mechanism and path planning for a two-caster nonholonomic vehicle (the Essboard) which is a recent variant of skateboard. Different from the most studied Snakeboard, the Essboard ...In this paper, we study the kinematic mechanism and path planning for a two-caster nonholonomic vehicle (the Essboard) which is a recent variant of skateboard. Different from the most studied Snakeboard, the Essboard consists of a torsion bar and two platforms, each of which contains a pedal and a caster. We first investigate the relationship between the tilt angles of the pedals and the wheel directions of the casters. This relationship reveals how to control the wheel directions by adjusting the tilt angles. Next, the rotational radius of the Essboard is derived for a given pair of tilt angles of both pedals. The rotational radius of the Essboard is much different than that of the Snakeboard. Then we develop a path-planning algorithm for the Essboard to move from a start position to the goal, using a series of consecutively connected arcs, which are tangent to each other at the connected points. It is shown from a kinematic point of view that the path planning of the Essboard can be solved by a series of pairs of pedals' tilt angles. Three experiments are conducted to confirm the correctness of the main results. The results in this paper are a foundation for further study of the Essboard.展开更多
基金supported by the National Natural Science Foundation of China under Grants No. 60903155,No. 60903156,No.60903158,No. 61003229the Fundamental Research Funds for the Central Universities under Grants No. ZYGX2009J063, No.ZYGX2010J074
文摘Due to the road-constrained data delivery and highly dynamic topology of vehicle nodes in a Vehicular Ad Hoc Network (VANET), it is better to construct routing based on the road-to-road pattern than the traditional node-to-node routing pattern in MANETs. However, the challenging issue is the opportunistic forwarding at intersections. Therefore, we propose a novel routing scheme, called Buffer and Switch (BAS). In BAS, each road buffers the data packets with multiple duplicates propagation in order to provide more opportunities for packet switching at intersections. Different from conventional protocols in VANETs, the propagation of duplicates in BAS is bidirectional along the routing path. Moreover, BAS's cost is much lower than other flooding-based protocols due to its spatio-temporally controlled duplicates propagation. Different from recent researches, BAS can deliver packets not only to a stationary node, but also to the stationary or mobile nodes in a specified area. We conduct the extensive simulations to evaluate the performance of BAS based on the road map of a real city collected from Google Earth. The simulation results show that BAS can outperform the existing protocols, especially when the network resources are limited.
基金supported by the National Natural Science Foundation of China under Grant No.61171097
文摘In the paper, we concentrate on the infl uence of heterogeneity on the performance of forwarding algorithms under opportunistic networks. Therefore, we first describe two different heterogeneous network models, and capture the heterogeneity which concern mobile nodes' contact dynamics under the individual models and the spatial models. Then we investigate inter-contact time is not fully follow exponential distribution and compare the performance of the delivery delay between direct forwarding protocol and three-hop forwarding protocol under three network models. We illustrate the performance of message delivery delay under the spray and wait protocol and prophet protocol from simulation results. Our simulation results show that the heterogeneity should be considered for the performance of forwarding protocols.
基金supported by the National Natural Science Foundation of China (Grant Nos. 51105012 and 61175079)
文摘In this paper, we study the kinematic mechanism and path planning for a two-caster nonholonomic vehicle (the Essboard) which is a recent variant of skateboard. Different from the most studied Snakeboard, the Essboard consists of a torsion bar and two platforms, each of which contains a pedal and a caster. We first investigate the relationship between the tilt angles of the pedals and the wheel directions of the casters. This relationship reveals how to control the wheel directions by adjusting the tilt angles. Next, the rotational radius of the Essboard is derived for a given pair of tilt angles of both pedals. The rotational radius of the Essboard is much different than that of the Snakeboard. Then we develop a path-planning algorithm for the Essboard to move from a start position to the goal, using a series of consecutively connected arcs, which are tangent to each other at the connected points. It is shown from a kinematic point of view that the path planning of the Essboard can be solved by a series of pairs of pedals' tilt angles. Three experiments are conducted to confirm the correctness of the main results. The results in this paper are a foundation for further study of the Essboard.
