CN103634869A - Routing protocol and operational method for multi-mobile-robot communication network - Google Patents
Routing protocol and operational method for multi-mobile-robot communication network Download PDFInfo
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- CN103634869A CN103634869A CN201310719728.5A CN201310719728A CN103634869A CN 103634869 A CN103634869 A CN 103634869A CN 201310719728 A CN201310719728 A CN 201310719728A CN 103634869 A CN103634869 A CN 103634869A
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- 238000000034 method Methods 0.000 title claims abstract description 11
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention relates to a routing protocol and an operational method for a multi-mobile-robot communication network. According to the routing protocol, a fish swarm algorithm and an ant algorithm are adopted. The fish swarm algorithm is used for generating pheromone. The ant algorithm is used for performing analysis and route decision according to the pheromone which is generated through the fish swarm algorithm to select a route.
Description
Technical field
The present invention relates to a kind of Routing Protocol for multiple mobile robot's communication network and operation method, be applied to communication network field, especially special in multiple mobile robot's solution to the effective routing of communication network under complex environment.
Background technology
From current robotics development present situation, individual machine people is not only in the aspect such as obtaining information, processing and control ability ability shortcoming, and complicated situation adaptability to changes is also inadequate a little for task and operational environment.Multi-robot system can cooperate mutually, has improved operating efficiency and has positioned more accurately, is applicable to complicated operational environment.So multi-robot system has been the inexorable trend of complex task.
Robot between multirobot Zhong， robot, needs undertaken synchronous or coordinate by information interchange, so need to better finish the work by communicating by letter.
It is different that the communication of mobile multirobot and general networking are communicated by letter, and is a very complicated system.Particularity due to mobile-robot system, at present researcher to select many be the communication network based on Ad hoc, robot is on the one hand as transmit leg and the recipient of data message, on the other hand as router forwarding data, carry out route discovery, route maintenance and routing update.Complicated when communication environment, the low and robot of mobile robot's energy moves the comparatively active various factors that waits affect robot transmission data, and reasonable in design effective, the strong Routing Protocol algorithm of adaptability flexibility just seems necessary.And various countries still do not design the perfect especially Routing Protocol that is applicable to mobile robot at present, some now popular Routing Protocols are faced complicated external environment also certain weak point.
Ad hoc network routing protocol is mainly divided at present table and drives Routing Protocol and drive as required Routing Protocol, and more conventional Routing Protocol has at present:
DSDV (Destination Sequenced Distance Vector, destination node sequence distance vector protocol) Routing Protocol, sets sequence number, and each node retains a routing table, avoids the generation of loop.But convergence is low.When robot moves when more frequent, hydraulic performance decline.
DSR (Dynamic Source Routing dynamic source routing protocol) Routing Protocol, maximum feature is exactly that head in each grouping comprises whole piece routing iinformation.When carrying out route discovery, search new route and upgrade cache contents.Can Rapid Establishment route, but owing to having carried whole piece routing iinformation, larger to taking of network bandwidth resources.
AODV (Ad Hoc On-Demand Distance Vector Routing Ad Hoc demand distance vector Routing Protocol) Routing Protocol, the advantage of comprehensive DSDV and DSR, but still do not solve the slow problem of convergence rate.
Summary of the invention
The object of the present invention is to provide a kind of Routing Protocol for multiple mobile robot's communication network, it can improve convergence rate.
For realizing aforementioned object, the present invention adopts following technical scheme: a kind of Routing Protocol for multiple mobile robot's communication network, adopt fish-swarm algorithm and ant algorithm, described fish-swarm algorithm information generated element, the pheromones that described ant algorithm generates according to fish-swarm algorithm is analyzed with the decision-making in path with selecting paths.
As a further improvement on the present invention, in described Routing Protocol, adopt energy cost as constraints.
As a further improvement on the present invention, described Routing Protocol comprise transmission father node, carry out the child node of transfer of data and in order to judge that father node passes to the transmission information timeout mechanism of child node data time, the signal that described child node replies to father node is inductor signal with described father node.
The present invention also comprises a kind of operation method for multiple mobile robot's communication network, comprising:
S1: adopt fish-swarm algorithm information generated element, then pheromones is carried out to initial distribution;
S2: judge whether pheromones contrasts over stablizing pheromones;
S3: stablize pheromones as judgement surpasses, judge that the lower node in this pheromones is stable node, as judgement does not surpass, judge that the lower node in this pheromones is live-vertex;
S4: after being judged as stable node, calculate the lower node transition probability in this pheromones according to pheromones and path, select at random the lower node in pheromones according to probability;
S5: check whether lower node changes;
S6: as changed, check whether this lower node is destination node; As do not changed, upgrade routing table after this lower node and re-start route discovery and pheromones be limited between the maximum and minimum value of pheromones of setting;
S7: as after checking, be destination node, ant returns and upgrades this routing table through path and pheromones table, then enters step S8; As be not destination node after checking, get back to step S2;
S8: finish this order of classes or grades at school and transmit data.
The invention has the beneficial effects as follows: compared with prior art, the Routing Protocol for multiple mobile robot's communication network of the present invention and operation method have improved convergence rate.
Embodiment
A kind of Routing Protocol for multiple mobile robot's communication network of the present invention, adopt fish-swarm algorithm and ant algorithm, described fish-swarm algorithm information generated element, the pheromones that described ant algorithm generates according to fish-swarm algorithm is analyzed with the decision-making in path with selecting paths.
Adopt the object of above-mentioned Routing Protocol to be: due to needs consideration is that robot moves at any time, if robot system is in mobile more active state, and ant group algorithm is positive feedback stack convergence, have the slow shortcoming of convergence rate, initial pheromones gap is not obvious, makes path can not converge on optimal solution, and intrasystem node often moves, make system more unstable, the present invention has adopted the fusion of fish-swarm algorithm, and ant group algorithm is improved.Fish-swarm algorithm has advantages of fast convergence rate, adopts fish-swarm algorithm information generated element, can make Path selection more targeted, utilizes ant algorithm to ask exact solution, has complementary advantages, thereby improves convergence rate.
In the present embodiment, due to the revocable portable energy of general selection when ，Gei robot provides the energy in the middle of mobile multi-robot system, if selection is fixed, or large-scale Blast Furnace Top Gas Recovery Turbine Unit (TRT), not only can cause burden to whole system, robot moves also inconvenient.Although and the portable energy for example battery carry more convenient, but also brought another problem, be easy to cause energy depletion, whole system cannot normally be moved down, simultaneously, under special environment, it is unpractical changing immediately battery, so reasonably utilize energy, is very important.Again because this Routing Protocol has produced optimal solution at communication path, so may cause only having a small amount of robot consuming the energy in robot system, and the energy that other robot consumes can be very little, so just caused the unbalanced of energy distribution, make some robots can exhaust rapidly the energy of oneself, cause system normally to move, so, in this Routing Protocol, adopt energy cost as constraints, when certain paths consumed energy more difficult selected more at most, control the rational utilization of the energy, the balanced consumption energy, thereby can extend the life cycle of whole mobile multi-robot system.
Described Routing Protocol comprise transmission father node, carry out the child node of transfer of data and in order to judge that father node passes to the transmission information timeout mechanism of child node data time with described father node.
Node in Routing Protocol has been selected after next node, send data to next node, as father node has exceeded the transmission information timeout mechanism in agreement, if child node is received information, to father node, reply an answer signal, this signal is sensor signal, and for example the bright representative of lamp receives data.By this kind of mode, can prevent that child node is not received information because signal disturbs, and father node does not know not send successfully, no longer carries out other orders, thereby occurred deadlock situation, make its not bandwidth of busy channel, prevent congestion information.
When above-mentioned child node has been received the data that father node sends, replied a response message, and carried out the forwarding of next node, when having surpassed transmission information timeout mechanism, father node will continue to send repetition message, if at this moment data to be detected are repetitions to child node, no longer forward and algorithm process, and continue to send answer signal to father node.By this kind of mode, so also effectively improved the congestion phenomenon of information.
When father node sends after message, child node, without response, resends again, surpasses transmission information timeout mechanism, thinks that this node task is busy, moves on to other nodes.
The present invention also comprises a kind of operation method for multiple mobile robot's communication network, comprising:
S1: adopt fish-swarm algorithm information generated element, then pheromones is carried out to initial distribution;
S2: judge whether pheromones contrasts over stablizing pheromones;
S3: stablize pheromones as judgement surpasses, judge that the lower node in this pheromones is stable node, as judgement does not surpass, judge that the lower node in this pheromones is live-vertex;
S4: after being judged as stable node, calculate the lower node transition probability in this pheromones according to pheromones and path, select at random the lower node in pheromones according to probability;
S5: check whether lower node changes;
S6: as changed, check whether this lower node is destination node; As do not changed, upgrade routing table after this lower node and re-start route discovery and pheromones be limited between the maximum and minimum value of pheromones of setting;
S7: as after checking, be destination node, ant returns and upgrades this routing table through path and pheromones table, then enters step S8; As be not destination node after checking, get back to step S2;
S8: finish this order of classes or grades at school and transmit data.
In sum, the Routing Protocol for multiple mobile robot's communication network of the present invention and operation method have improved convergence rate.
Although be example object, the preferred embodiment of the present invention is disclosed, but those of ordinary skill in the art will recognize, in the situation that not departing from by the disclosed scope and spirit of the present invention of appending claims, various improvement, increase and replacement are possible.
Claims (4)
1. the Routing Protocol for multiple mobile robot's communication network, it is characterized in that: described Routing Protocol adopts fish-swarm algorithm and ant algorithm, described fish-swarm algorithm information generated element, the pheromones that described ant algorithm generates according to fish-swarm algorithm is analyzed with the decision-making in path with selecting paths.
2. the Routing Protocol for multiple mobile robot's communication network according to claim 1, is characterized in that: in described Routing Protocol, adopt energy cost as constraints.
3. the Routing Protocol for multiple mobile robot's communication network according to claim 1, it is characterized in that: described Routing Protocol comprise transmission father node, carry out the child node of transfer of data and in order to judge that father node passes to the transmission information timeout mechanism of child node data time, the signal that described child node replies to father node is inductor signal with described father node.
4. for an operation method for multiple mobile robot's communication network, it is characterized in that: described operation method comprises:
S1: adopt fish-swarm algorithm information generated element, then pheromones is carried out to initial distribution;
S2: judge whether pheromones contrasts over stablizing pheromones;
S3: stablize pheromones as judgement surpasses, judge that the lower node in this pheromones is stable node, as judgement does not surpass, judge that the lower node in this pheromones is live-vertex;
S4: after being judged as stable node, calculate the lower node transition probability in this pheromones according to pheromones and path, select at random the lower node in pheromones according to probability;
S5: check whether lower node changes;
S6: as changed, check whether this lower node is destination node; As do not changed, upgrade routing table after this lower node and re-start route discovery and pheromones be limited between the maximum and minimum value of pheromones of setting;
S7: as after checking, be destination node, ant returns and upgrades this routing table through path and pheromones table, then enters step S8; As be not destination node after checking, get back to step S2;
S8: finish this order of classes or grades at school and transmit data.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105376823A (en) * | 2015-11-16 | 2016-03-02 | 西北工业大学 | Beidou positioning system based novel wireless sensor network routing algorithm |
| CN113163466A (en) * | 2021-04-25 | 2021-07-23 | 北京邮电大学 | Adaptive fish school routing packet routing method based on fuzzy decision tree |
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| CN101217488A (en) * | 2008-01-16 | 2008-07-09 | 中南大学 | A reconstructible multiple mobile robot communication means |
| CN101227503A (en) * | 2008-01-29 | 2008-07-23 | 浙江大学 | Method for communication between intelligent microminiature ground robot and wireless sensor node |
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| US20060034233A1 (en) * | 2004-08-10 | 2006-02-16 | Meshnetworks, Inc. | Software architecture and hardware abstraction layer for multi-radio routing and method for providing the same |
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| CN113163466A (en) * | 2021-04-25 | 2021-07-23 | 北京邮电大学 | Adaptive fish school routing packet routing method based on fuzzy decision tree |
| CN113163466B (en) * | 2021-04-25 | 2022-11-01 | 北京邮电大学 | Self-adaptive fish school routing packet routing method based on fuzzy decision tree |
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