CN101959277A - Multi-underwater robot communication-oriented energy-saving routing method - Google Patents
Multi-underwater robot communication-oriented energy-saving routing method Download PDFInfo
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Abstract
The invention provides a multi-underwater robot communication-oriented energy-saving routing method. The method comprises three main links of route searching, route restoring and route maintenance and particular comprises the following steps of: judging whether routing exists between two robot nodes or not; if yes, judging whether a broken link exists in the routing or not, and otherwise, selecting and searching the routing between the two robots by a link life time limit-based route searching algorithm; if the broken link exists in a network, performing route restoring by an energy-saving route restoring algorithm; if the broken link does not exist in the network, detecting whether better routing exists or not by an algorithm, if yes, updating the current routing by an energy-saving route maintenance algorithm, and otherwise, judging whether a task ends up or not; and if the task ends up, finishing the process. The multi-underwater robot communication-oriented energy-saving routing method is applied to a multi-underwater robot system. The multi-underwater robot communication-oriented energy-saving routing method has the advantages of taking energy of communication into direct consideration in the steps of route researching, route restoring and route maintenance, greatly saving the energy and the response time of underwater robot communication and guaranteeing that the underwater robot task can be performed successfully.
Description
Technical field
The present invention relates to a kind of subsurface communication method, specifically, relate to a kind of energy-saving routing method towards underwater multi-robot communication.
Background technology
The research of underwater sound communication network starts from the nineties in 20th century.Recent two decades, water sound communication technique has been obtained great advance, and its application has also expanded to commercial field gradually.
The beginning of the nineties, the self-organizing sampling network (AOSNs) of the U.S. takes the lead in proposing " underwater sound net " notion, and utilize sea net Seaweb plan to put into practice, verify, confirm to utilize acoustics to carry out the feasibility of networking under water very soon, and derived plan of a series of underwater sound net and application.As FRONT coastal shelf monitoring plan, the anti-war plan of the coastal military affairs of distributed DADS etc., the bright prospects that underwater acoustic network is used have fully been represented.Science and technology development has improved the bit rate and the reliability of underwater sound communication, thereby has realized point-to-point real time communication, yet underwater sound communication network is more useful than simple point-to-point communication far away, also more complicated.Therefore, developed country such as the U.S., Canada and European Community and area have been dropped into great amount of manpower and material resources and have been researched and developed underwater sound communication network.
The underwater acoustic network that underwater multi-robot (AUVs) is formed is a kind of underwater sound hoc network, and the hoc network of studying at most at present is an Ad Hoc net.Ad Hoc net is the mobile network who does not have wired infrastructure to support, the node in the network constitutes by mobile host.Because all nodes can be randomly, freely move, its network topology structure is dynamic change.In Ad Hoc network, the communication range of main frame is limited, when two mobile hosts are in communication coverage each other, they can direct communication, otherwise must carry out data forwarding by via node, therefore in Ad Hoc net, main frame is both still router, is undertaking and is seeking route and the function of transmitting data.Because in Ad Hoc net, data generally all will could arrive destination node by a plurality of main frames forwardings, so Ad Hoc net is also referred to as multi-hop wireless network, a provisional autonomous system of multi-hop of forming by one group of portable terminal that has a wireless transmitter just.Ad Hoc network has very important application prospect in fields such as military affairs, Emergency Assistance and explorations.
The research of route technology is one of core content of Ad Hoc net research, good method for routing can reduce the response time of route, reduce the consumption of energy in the network operation process, this is especially important to this network with high latency, energy constraint of underwater sound hoc network.Divide from the angle of the logical view of route, Ad Hoc networking can be divided into planar structure and hierarchy route by technology.At present, the maximum still plane road of Ad Hoc net research by.The most general classification is that it is divided into two classes to Ad Hoc routing protocol technology: priori formula (proactive) and reaction equation (reactive) are also referred to as table and drive (table-driven) and (on-demand) driving on demand.Table drives route to be had: DBF (Distributed Bellman-Ford), DSDV (Destination-sequenced Distance-vector Routing), WRP (Wireless Routing Protocol) etc.Route mainly contains on demand: DSR (Dynamic Source Routing), AODV (Ad Hoc On-Demand Distance VectorRouting), TORA (Temporally-Ordered Routing Algorithm) etc.
The AODV routing protocol technology is a kind of on-demand routing protocol of studying often in the Ad Hoc net.It has, and amount of calculation is little, storage resource consumption is little, the network bandwidth is taken characteristics little, that can restrain fast when network topology structure changes.But it still has some to be worth improved place, especially it will be used for this network that energy consumption is had relatively high expectations of underwater robot communication network, should make it reduce the loss of energy as much as possible.
In present route technology both domestic and external, majority relates to the communication technology between 2.And also be primarily aimed at the wireless sensor network of static node towards the multinode communication network, consider the features such as mobility of underwater sound characteristic, energy and node seldom simultaneously.The underwater robot method for routing that the present invention is designed is different from above-mentioned route technology.Emphasis has been considered the characteristic of underwater sound communication, be to be the route technology of main demand in essence, can be fit to the demand of underwater multi-robot collaborative task, have following feature: at first with energy-conservation, the initial needs of network creation carry out route querying, and purpose is to find a reliable and stable route.In this stage, introduce the vector restriction and transmit rule and the preferential choice mechanism of link life span, reduce the number of nodes that route querying relates to, increase the high link selection of survival rate, thereby reduced the system capacity that consumes in the search procedure.Secondly, when routing node breaks down or chain rupture occurs, need carry out route repair, ensure the reliable delivery of information.In this stage, the thought that will " start slowly " is incorporated in the route repair algorithm of hop-by-hop rollback, with balance energy consumption and response time.Compare with the automatic reparation of AODV, in most of the cases, especially when network was big, it can more save energy, and repair time is also shorter.At last, if the link of repairing is not an optimal situation, then need to carry out route maintenance.In this stage, in HELLO message, add its Route Distinguisher of safeguarding and jumping figure, receive the HELLO of its neighbor node transmission when node after, can learn its distance from destination node, make the maintenance of route have dynamic and adaptability, ensure the generation of optimum link, saved the time and the energy of underwater robot communication.
Summary of the invention
The object of the present invention is to provide a kind of energy and the response time that can save underwater robot communication, ensure the energy-saving routing method that carries out smoothly of underwater robot task towards underwater multi-robot communication.
The object of the present invention is achieved like this:
Comprise route querying, route repair and three key links of route maintenance, circulation in the following order, up to task termination: at first judge between two robot nodes whether have route, if exist then judge the situation that whether has chain rupture in this route, select and search route between these two robots otherwise adopt based on the limited route querying algorithm of link life span; Secondly, when having chain rupture in the network, adopt energy-conservation route repair algorithm to repair route, otherwise whether the algorithm inspection exist more excellent route; If have more excellent route then adopt energy-conservation route maintenance algorithm to upgrade current route, otherwise judge whether task finishes, if finish then finish.
The present invention can also comprise:
(1) describedly select and the method for searching the route between these two robots is based on the limited route querying algorithm of link life span:
Before information sends, to search arriving the destination node route, route querying is divided into two processes, is respectively the processing of route request information and route replies message;
1. the processing of route request information RREQ
When not having route between the robot of intercommunication mutually, the robot of transmitting terminal then sends route request information RREQ, when RREQ receives in the robot of receiving terminal, then vector restriction forwarding rule judges whether in the scope that a last node is transmitted, according to the vector meter algorithm, robot only transmits the node in itself and the impact point direction certain angle, and the node outside this angle will not be transmitted;
When receiving terminal is transmitted the rule decision node not when a last node is transmitted scope by the vector restriction, then abandon this RREQ, otherwise judge whether this information was handled, if handled this message, then receiving terminal continues to judge whether more excellent route, contain the RREQ of this robot location's information when neighbor node after, according to the coordinate of self, the efficient communication time that the direction of motion and velocity estimation go out two nodes is the link life span, after receiving the RREP message that contains the current link minimal communications time when node, at first calculate the efficient communication time of it and next jumping, value compares therewith then, if littler, then revising the bottleneck value is the efficient communication time of present node, otherwise remains unchanged, when source node received that a plurality of RREP respond, the link of selecting bottleneck value maximum was as communication link;
Finding RREQ message when receiving terminal does not have processed or has more excellent route to exist, judge that then this receiving node is not a destination node, if not, whether the destination node in the table of query and routing is current required destination node, when this node is to have destination node in destination node or the routing table, then receiving terminal responds this RREQ message, change that next RREP sends over to and the processing stage, otherwise transmit this RREQ message, be delivered to the node that comprises destination node in destination node or the route up to this information;
2. the transmission of route replies message RREP and processing
For there being route,, after receiving RREQ message, receiving terminal needs this message is handled in order to set up complete route;
The node that receives RREP message judges whether this message was handled, if handled then adopt link existence choice mechanism to judge whether to exist more excellent route, if there is more excellent route, then judge the whether source node of route querying of this node, otherwise abandon this RREP message,, then finish the route querying process when the node of receiving RREP is a source node, otherwise continue to transmit, up to finding source node.
(2) described energy-conservation route repair algorithm is that specifically comprise: when route repair occurred in link occurs fault, its process was as follows based on " starting slowly " route repair algorithm:
1. during link occurs fault, carry out traditional local route repair, forward to 5. if repair successfully, otherwise change over to 2.;
2. transfer to upstream node in the mode of " starting slowly " and carry out route repair, its process is as follows: for route request information RREQ adds the TTL item, limit the number of times that RREQ message is forwarded with this, this ttl value is set after, send to upstream node, revolution is sent out once, ttl value then doubles, after node receives ttl value, when find arriving this and being worth predefined threshold value, forward to 4., otherwise forward to 3.;
3. judge whether source node of present node,, otherwise transmit this RREQ message if then forward to 4.;
4. carry out route repair, rebulid the route of this node,, forward to 5., otherwise forward to 3. if repair successfully to destination node according to the route querying process;
5. finish.
(3) described energy-conservation route maintenance algorithm is the preferential route maintenance algorithm of energy, specifically comprises:
When the route after repairing or recovering is not optimum route, enter the route maintenance link, service object is divided into active link node and inactive link node, and detailed process is as follows:
When 1. the route after adopting link life span judgement reparation is not optimum route, at first judge Maintenance Point whether the node on current route be node on the active link, if not, forward to 2., otherwise in HELLO message, add its Route Distinguisher of safeguarding and jumping figure, receive the HELLO of its neighbor node transmission when node after, learn its distance from destination node, for the routing node that carries destination node in the HELLO message, the jumping figure that it is carried in the jumping figure of destination node and the HELLO message compares, judge whether current route is better route, if the jumping figure that this jumping figure carries less than HELLO message is then thought better route, if better route is then revised the time of receiving HELLO message, otherwise the modification route table items allows its next jumping point to better routing link;
2. after node is received HELLO message from neighbor node, if in the route table items not to the route of the entrained destination node of HELLO message then add corresponding route table items, otherwise hop count in the route table items that it is safeguarded and the hop count in the HELLO message compare: if big double bounce and when above, revise routing table, the node that sends this HELLO message is pointed in its next jumping; If a big jumping, little is jumped or equated, directly abandon; If more than the little double bounce, make it revise routing table, next is jumped point to oneself.
Said process is carried out repeatedly, and algorithm finishes during more unexcellent route in network.
By the final energy-conservation route technology towards underwater multi-robot communication of above link design, method flow as shown in Figure 1.
Advantage of the present invention is:
(1) by the vector limit calculation, reduced the node number of transmitting, reach the purpose of saving energy with this.Traditional AODV method for routing is revised the consumption of saving energy by the mode that improves the link survival rate from link survival rate aspect.
(2) provide this locality with extensibility and repair, the thought that will " start slowly " is incorporated in the route repair algorithm of hop-by-hop rollback transfers to solution that upstream node is repaired caused high latency issue and the solution node repeats the reparation problem.
(3) by having revised HELLO message, make it except function with common detection chain rupture, the non-optimum route that can also dynamic optimization causes because of chain rupture, move etc. reaches the purpose of saving energy.
Description of drawings
Fig. 1 is the flow chart of the inventive method step;
Fig. 2 is the process chart of RREQ message in the route querying;
Fig. 3 is the process chart of RREP message in the route querying;
Fig. 4 is that schematic diagram is transmitted in restriction;
Fig. 5 is a route querying process example;
Fig. 6 is a method for repairing route flow chart of the present invention;
Fig. 7 is a route maintenance method flow chart of the present invention.
Embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
The present invention proposes a kind of energy-conservation route technology towards underwater multi-robot communication, and its realization relates to route querying, route repair and three key links of route maintenance.Algorithm is finished following cycling, up to task termination: at first judge between two robot nodes whether have route, if exist then judge the situation that whether has chain rupture in this route, select and search route between these two robots otherwise adopt based on the limited route querying algorithm of link life span.Secondly, when having chain rupture in the network, adopt energy-conservation route repair algorithm to repair route, otherwise whether the algorithm inspection exist more excellent route.If exist then adopt energy-conservation route maintenance algorithm to upgrade current route, otherwise judge whether task finishes, if finish then algorithm finishes.
In algorithm, designed concrete implementation method at each link, embodied the energy conservation characteristic of each algorithm during the course.Implementation step is as follows:
(1) rule and the preferential route querying of link life span are transmitted in restriction based on vector
Before information sends, need search arriving the destination node route.Route querying is divided into two processes, is respectively the processing of route requests and route replies message.
1. the processing of route request information RREQ
At first, when not having route between the robot of intercommunication mutually, the robot of transmitting terminal then sends route request information RREQ, when RREQ receives in the robot of receiving terminal, then judges whether in the scope that a last node is transmitted.This process adopts the vector restriction to transmit rule and realizes.Adopt vector to transmit the rule decision node and whether go up a node.For this reason, positional information is joined in the request message.Under the prerequisite of position ten-four, an angle α is set, make the node in two node lines of communication and the determined zone of angle α just carry out data forwarding, with the node number that restriction is transmitted, reach the purpose that reduces energy consumption.According to the vector meter algorithm, calculate the interior node of angle of restriction forward node direction 2 α and transmit, the node outside this angle will not be transmitted, and has saved the number of nodes that relates in the route querying process.
Secondly, transmit the rule decision node not when a last node is transmitted scope by the vector restriction, then abandon this RREQ when receiving terminal.Otherwise judge whether this information was handled.If handled this message, be illustrated as resend message, then receiving terminal continues to judge whether more excellent route.More excellent route judges by the link life span, i.e. the preferential choice mechanism of link life span.For this reason, coordinate, the direction of motion and the velocity information with present node joins among the route replies message RREP.After its neighbor node is received this message, efficient communication time (being the link life span) that goes out two nodes according to self coordinate, the direction of motion and velocity estimation again.Necessarily exist two adjacent nodes in every link, the efficient communication time delay between them is the shortest, and this will be the communication performance bottleneck (value of the short more correspondence of time delay is big more) of this link.With the bottleneck value record in the current link in RREP message.After node is received RREP message, at first calculate the efficient communication time of it and next jumping, value compares therewith then.If littler, then revising the bottleneck value is the efficient communication time of present node, otherwise remains unchanged.When source node received that a plurality of RREP respond, the link of selecting bottleneck value maximum was as communication link.
Once more, receiving terminal discovery RREQ message does not have processed or has more excellent route to exist, and needs then to judge that this receiving node is not a destination node.If not, need whether the destination node in the table of query and routing is current required destination node.When this node is to have destination node in destination node or the routing table, then receiving terminal carries out corresponding to this RREQ message, change that next RREP sends over to and the processing stage, otherwise transmit this RREQ message, be delivered to the node that comprises destination node in destination node or the route up to this information.
2. the transmission of route replies message RREP and processing
For there being route, in order to set up complete route, when receiving terminal is being received RREQ message and need handled this message.
The node that receives RREP message judges whether this message was handled, if handled then adopt link existence choice mechanism to judge whether to exist more excellent route.If there is more excellent route, then judges the whether source node of route querying of this node, otherwise abandon this RREP message.When the node of receiving RREP is a source node, then finish the route querying process, otherwise continue to transmit, up to finding source node.
By above-mentioned flow process, vector restriction forwarding rule and link life span are incorporated into the route querying process, save unnecessary energy consumption effectively.
(2) based on " starting slowly " route repair algorithm
When route repair occurred in link occurs fault, its process was as follows:
1. during link occurs fault, carry out traditional local route repair, forward to 5. if repair successfully, otherwise change over to 2..
2. transfer to upstream node in the mode of " starting slowly " and carry out route repair.The basic thought of " slowly start " is when newly-built connection, and window size is set to 1 message segment size, and transmitting terminal begins according to congestion window size transmission data, and whenever there being a message segment to be identified, the transmitting terminal window increases and is twice.In transferring to the process of upstream process, transfer to for the first time that node carries out route repair on it, behind the repairing failure, hand in preceding two nodes of present node again and repair, four next time, by that analogy, up to arriving source node.In one network, from the near more node of source node, the scope of its covering is wide more, and the possibility of reparation is big more.In order to realize this process, for route request information RREQ has added the TTL item, limit the number of times that RREQ message is forwarded with this, be referred to as local route repair.After this ttl value is set, need send to upstream node.Revolution is sent out once, and ttl value then doubles.After node receives ttl value, when find arriving this and being worth predefined threshold value, forward to 4., otherwise forward to 3..
3. judge whether source node of present node,, otherwise transmit this RREQ message if then forward to 4..
4. carry out route repair, rebulid the route of this node to destination node according to the route querying process.If repair successfully, forward to 5., otherwise forward to 3..
5. algorithm finishes.
(3) the preferential route maintenance algorithm of energy
At the route after reparation or the recovery is not the situation of optimum route, has designed dynamic route maintenance link, and minimizing information is transmitted the uncorrelated node that relates to, and reduces the energy of system.Service object can be divided into active link node and inactive link node, and detailed process is as follows:
1. when adopting the link life span to judge that route after repairing is not optimum route, at first judge the whether node (being the node on the active link) on current route of Maintenance Point.If not, forward to 2..Otherwise in HELLO message, add its Route Distinguisher of safeguarding and jumping figure, after node is received the HELLO that its neighbor node sends, can learn its distance from destination node.For the node of the route of having safeguarded the destination node of carrying in the HELLO message, the jumping figure that it carries in the jumping figure of destination node and the HELLO message can be compared, judge whether current route is better route.If the jumping figure that this jumping figure carries less than HELLO message is then thought better route.If better route is then revised the time of receiving HELLO message, otherwise revise route table items, allow its next jumping point to better routing link.
2. after node is received HELLO message from neighbor node, if in the route table items not to the route of the entrained destination node of HELLO message then add corresponding route table items, otherwise hop count in the route table items that it is safeguarded and the hop count in the HELLO message compare, three kinds of situations are arranged: if big double bounce and more than, the optimum route of the route right and wrong to destination node that it is safeguarded is described, revise routing table this moment, the node that sends this HELLO message is pointed in its next jumping; If a big jumping, little is jumped or is equated that explanation is the HELLO message that normal neighbor node sends, and directly abandons; If more than the little double bounce, illustrate that the route that the node that sends this HELLO message is safeguarded is not optimum route, should make it revise routing table, next is jumped point to oneself.
Said process is carried out repeatedly, and algorithm finishes during more unexcellent route in network.
Be verification algorithm validity, method for routing be applied in the underwater multi-robot formation task that robot forms into columns with the line style formation, 3 robots of every row under 300m * 100m environment.In the process that robot moves, by node or the link failure under the different situations being set, observing information transmission, node energy consumption and the overall energy consumption that relates in the whole process.
(1) rule and the preferential Route Selection of link life span are transmitted in restriction based on vector
The address of carrying a hop node in the RREQ message of energy-conservation route technology.When node was received a RREQ message, it at first judged present node whether within the last one forwarding scope of jumping, if would handle, otherwise abandon.For the RREQ message that needs are handled, node at first judges whether treated, if not then unconditionally handle, otherwise need judge whether the entrained route of RREQ message that receives is better route by best route evaluation criterion.If better route is then revised routing table, and transmit these message, otherwise abandon.For RREP message,, otherwise transmit by the reverse route of setting up if source node is then searched end.The handling process of route querying process RREQ and RREP message such as Fig. 2 and shown in Figure 3.
1. to vector restriction retransmission method, at 5 nodes as shown in Figure 4.Node S sends message to node D, if the node that restriction is transmitted, make with straight line SD angle less than | α | node just transmit message, have only Node B and node C can carry out data forwarding so among the figure.As can see from Figure 1, suppose that node A also carries out data forwarding, has only node S and Node B within the communication range of node A.And because node S is a source node, Node B had been handled this message, and the message of node A forwarding will directly be abandoned by node S and Node B so, that is to say that node A does not need to transmit.
2. to link life span method for limiting, be example with Fig. 5 situation.Suppose that the present forward node of node F D direction moves, when node F receives the RREP message that destination node D sends, can calculate the efficient communication time (20 seconds).It will send a RREP message to E this moment, carry an existence bottleneck value of current link in this RREP message.After node E receives RREP message, can estimate the efficient communication time of it and next node.Because node F is away from it, so link
Between can be more early chain rupture (10 seconds).This posterior nodal point E revises the bottleneck value (10 seconds) among the RREP, and continues to send.Because node S and node E relative fixed, be infinitely great its effective time, so source node S at first can be set up a route S → E → F → D (its effective life span is 10 seconds).
To the second link, S → C → G → D, they all are relatively-stationary, so effective life span of this link is infinitely great.When source node S is received RREP message from node C, it can compare the effective life span of the effective life span in this RREP message with the route of having set up, the life span of finding the route that this RREP is pointed is longer, thereby Route Selection is revised as S → C → G → D, to reach the purpose that improves the link survival rate.
(2) based on the route repair algorithm of " slowly start "
When chain rupture takes place, at first carry out local route repair.It is 2 RREQ message that the robot node can send a TTL, carries out route repair in the double bounce scope.If repair successfully then repair process finishes, otherwise its can send RERR message toward its upstream node, allow its upstream node carry out route repair.RERR message can adopt hop-by-hop transfer mode up, and promptly each node of its upstream all can attempt carrying out route repair, but under the situation that routes such as destination node inefficacy can't be repaired, has very big delay.Introduce " starting slowly " thought in the TCP/TP agreement, node is behind repairing failure, can upstream nodes sending the RERR message that a jumping figure is restricted to 2 times of sizes of current ttl value, is that the node of 2*TTL just can be initiated route repair again from the present node jumping figure in the upstream node just.If can't repair, transmit toward the upstream node again, by that analogy, up to arriving destination node.The flow chart of its repair process as shown in Figure 6.
(3) the preferential route maintenance algorithm of energy
1. for the node on the active link, the entrained sending node in the jumping figure of destination node and the HELLO message that it is received that its is safeguarded is compared to the jumping figure of destination node, three kinds of situations are arranged: if (a) big double bounce and more than, next jumping is set to send the node of this HELLO message, and the hop count of change present node; (b) if big one jump, the time from neighbours' HELLO message of revising that it receives; (c) if equate or bigger, and sending node be its next jump, need to revise the jumping figure of this node to destination node.
2. for the node on the inactive link, it may not arrive the route of destination node, is set to the route table items of destination node this moment according to the entrained content of HELLO message.If it has the route to destination node, this can divide three kinds of situations to discuss again: if (a) it to the jumping figure of the destination node jumping figure big double bounce more entrained than HELLO message and more than, this moment, its next jumping was set to send the node of this HELLO message, and upgraded its jumping figure; (b) if the difference of the absolute value of its jumping figure is less than or equal to 1, then do nothing; (c) if its jumping figure than more than the little double bounce of jumping figure entrained in the HELLO message, next jump to point to present node with it.This moment, it sent a HELLO message to its neighbor node, to dynamically update the non-best route that causes owing to situations such as route repair or node motion.The flow chart of its HELLO Message Processing as shown in Figure 7.
In the underwater multi-robot network of different node numbers, test at last, by providing in the test of many times average energy that system consumed under route querying in the route technology proposed by the invention under the different number of nodes, route repair and the route maintenance, and provide the quantized result that is better than additive method.
Claims (5)
1. energy-saving routing method towards underwater multi-robot communication, comprise route querying, route repair and three key links of route maintenance, it is characterized in that: at first judge between two robot nodes whether have route, if exist then judge the situation that whether has chain rupture in this route, select and search route between these two robots otherwise adopt based on the limited route querying algorithm of link life span; Secondly, when having chain rupture in the network, adopt energy-conservation route repair algorithm to repair route, otherwise whether the algorithm inspection exist more excellent route; If have more excellent route then adopt energy-conservation route maintenance algorithm to upgrade current route, otherwise judge whether task finishes, if finish then finish.
2. a kind of energy-saving routing method towards underwater multi-robot communication according to claim 1 is characterized in that describedly selecting and the method for searching the route between these two robots is based on the limited route querying algorithm of link life span:
Before information sends, to search arriving the destination node route, route querying is divided into two processes, is respectively the processing of route request information and route replies message;
1. the processing of route request information RREQ
When not having route between the robot of intercommunication mutually, the robot of transmitting terminal then sends route request information RREQ, when RREQ receives in the robot of receiving terminal, then vector restriction forwarding rule judges whether in the scope that a last node is transmitted, according to the vector meter algorithm, robot only transmits the node in itself and the impact point direction certain angle, and the node outside this angle will not be transmitted;
When receiving terminal is transmitted the rule decision node not when a last node is transmitted scope by the vector restriction, then abandon this RREQ, otherwise judge whether this information was handled, if handled this message, then receiving terminal continues to judge whether more excellent route, contain the RREQ of this robot location's information when neighbor node after, according to the coordinate of self, the efficient communication time that the direction of motion and velocity estimation go out two nodes is the link life span, after receiving the RREP message that contains the current link minimal communications time when node, at first calculate the efficient communication time of it and next jumping, value compares therewith then, if littler, then revising the bottleneck value is the efficient communication time of present node, otherwise remains unchanged, when source node received that a plurality of RREP respond, the link of selecting bottleneck value maximum was as communication link;
Finding RREQ message when receiving terminal does not have processed or has more excellent route to exist, judge that then this receiving node is not a destination node, if not, whether the destination node in the table of query and routing is current required destination node, when this node is to have destination node in destination node or the routing table, then receiving terminal responds this RREQ message, change that next RREP sends over to and the processing stage, otherwise transmit this RREQ message, be delivered to the node that comprises destination node in destination node or the route up to this information;
2. the transmission of route replies message RREP and processing
For there being route,, after receiving RREQ message, receiving terminal needs this message is handled in order to set up complete route;
The node that receives RREP message judges whether this message was handled, if handled then adopt link existence choice mechanism to judge whether to exist more excellent route, if there is more excellent route, then judge the whether source node of route querying of this node, otherwise abandon this RREP message,, then finish the route querying process when the node of receiving RREP is a source node, otherwise continue to transmit, up to finding source node.
3. a kind of energy-saving routing method according to claim 1 and 2 towards underwater multi-robot communication, it is characterized in that described energy-conservation route repair algorithm is based on " starting slowly " route repair algorithm, comprise that specifically when route repair occurred in link occurs fault, its process was as follows:
1. during link occurs fault, carry out traditional local route repair, forward to 5. if repair successfully, otherwise change over to 2.;
2. transfer to upstream node in the mode of " starting slowly " and carry out route repair, its process is as follows: for route request information RREQ adds the TTL item, limit the number of times that RREQ message is forwarded with this, this ttl value is set after, send to upstream node, revolution is sent out once, ttl value then doubles, after node receives ttl value, when find arriving this and being worth predefined threshold value, forward to 4., otherwise forward to 3.;
3. judge whether source node of present node,, otherwise transmit this RREQ message if then forward to 4.;
4. carry out route repair, rebulid the route of this node,, forward to 5., otherwise forward to 3. if repair successfully to destination node according to the route querying process;
5. finish.
4. a kind of energy-saving routing method according to claim 1 and 2 towards underwater multi-robot communication, it is characterized in that described energy-conservation route maintenance algorithm is the preferential route maintenance algorithm of energy, when the route after repairing or recovering is not optimum route, enter the route maintenance link, service object is divided into active link node and inactive link node, and detailed process is as follows:
When 1. the route after adopting link life span judgement reparation is not optimum route, at first judge Maintenance Point whether the node on current route be node on the active link, if not, forward to 2., otherwise in HELLO message, add its Route Distinguisher of safeguarding and jumping figure, receive the HELLO of its neighbor node transmission when node after, learn its distance from destination node, for the routing node that carries destination node in the HELLO message, the jumping figure that it is carried in the jumping figure of destination node and the HELLO message compares, judge whether current route is better route, if the jumping figure that this jumping figure carries less than HELLO message is then thought better route, if better route is then revised the time of receiving HELLO message, otherwise the modification route table items allows its next jumping point to better routing link;
2. after node is received HELLO message from neighbor node, if in the route table items not to the route of the entrained destination node of HELLO message then add corresponding route table items, otherwise hop count in the route table items that it is safeguarded and the hop count in the HELLO message compare: if big double bounce and when above, revise routing table, the node that sends this HELLO message is pointed in its next jumping; If a big jumping, little is jumped or equated, directly abandon; If more than the little double bounce, make it revise routing table, next is jumped point to oneself.
5. a kind of energy-saving routing method according to claim 3 towards underwater multi-robot communication, it is characterized in that described energy-conservation route maintenance algorithm is the preferential route maintenance algorithm of energy, when the route after repairing or recovering is not optimum route, enter the route maintenance link, service object is divided into active link node and inactive link node, and detailed process is as follows:
When 1. the route after adopting link life span judgement reparation is not optimum route, at first judge Maintenance Point whether the node on current route be node on the active link, if not, forward to 2., otherwise in HELLO message, add its Route Distinguisher of safeguarding and jumping figure, receive the HELLO of its neighbor node transmission when node after, learn its distance from destination node, for the routing node that carries destination node in the HELLO message, the jumping figure that it is carried in the jumping figure of destination node and the HELLO message compares, judge whether current route is better route, if the jumping figure that this jumping figure carries less than HELLO message is then thought better route, if better route is then revised the time of receiving HELLO message, otherwise the modification route table items allows its next jumping point to better routing link;
2. after node is received HELLO message from neighbor node, if in the route table items not to the route of the entrained destination node of HELLO message then add corresponding route table items, otherwise hop count in the route table items that it is safeguarded and the hop count in the HELLO message compare: if big double bounce and when above, revise routing table, the node that sends this HELLO message is pointed in its next jumping; If a big jumping, little is jumped or equated, directly abandon; If more than the little double bounce, make it revise routing table, next is jumped point to oneself.
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