CN106899991A - Adaptive optimal ad hoc network method based on multirobot and gaussian signal model - Google Patents
Adaptive optimal ad hoc network method based on multirobot and gaussian signal model Download PDFInfo
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- CN106899991A CN106899991A CN201710133676.1A CN201710133676A CN106899991A CN 106899991 A CN106899991 A CN 106899991A CN 201710133676 A CN201710133676 A CN 201710133676A CN 106899991 A CN106899991 A CN 106899991A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/02—Arrangements for optimising operational condition
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/155—Ground-based stations
- H04B7/15507—Relay station based processing for cell extension or control of coverage area
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/06—Testing, supervising or monitoring using simulated traffic
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
Abstract
The invention provides a kind of adaptive optimal ad hoc network method based on multirobot and gaussian signal model, comprise the following steps：S1, the two-dimensional map drafting that whole working environment is carried out by main robot, the two-dimensional map of environment is drawn using laser and camera；S2, main robot gather the WiFi signal sample point of base station in two-dimensional map or random walk process is drawn, and then WiFi signal is modeled, and form WiFi signal model；On the basis of S3, the WiFi signal model set up in step s 2, the optimal intermediate position of each robot is searched.The beneficial effects of the invention are as follows：Influence of the environment to wireless signal is taken into full account, the locus of each relaying robot according to the change in location of communication network node in environment, can have in real time been dispatched automatically so that communication network quickly obtains optimal communication quality.
Description
Technical field
The present invention relates to communicate, more particularly to a kind of adaptive optimal based on multirobot and gaussian signal model is from group
Network method.
Background technology
In 21 century, with the development of science and technology, wireless communication technology there occurs huge change.WLAN
(WLAN) the main development that experienced section between five, new standard is gradually replacing old standard.From first of 1997
The birth of version IEEE 802.11, the frequency of its work is 2.4GHz, and message transmission rate is only 2Mb/s, later IEEE
802.11a, IEEE 802.11b, IEEE 802.11g and IEEE 802.11n occur in succession, and wireless working frequency is also gradually
Develop from 2.4G to 5G, passed through in January, 2014 newest IEEE 802.11ac, it uses 5GHz frequency ranges completely, can carry
For the transmission rate of highest 866.7Mb/s.Additionally, the IEEE 802.11ad standards that WiGig tissues are proposed, employ 60GHz frequently
Section, can provide the short haul connection of highest 7Gb/s transmission rates, but, because it cannot penetrate barrier, so covering
Scope is very limited.Wireless Fidelity (WiFi) is used as the wlan standard being most widely used, and it is wireless that it meets IEEE 802.11b
The network standard, uses 2.4GHz frequency ranges, because 2.4GHz frequency ranges are using too many, in order to improve the antijamming capability of WiFi,
It is 5GHz also to have working frequency at present, but it has penetration capacity poor, the smaller shortcoming of coverage.
With the development of science and technology, in order to meet higher and higher communication requirement, cordless communication network is gradually to multinode
Self-organizing network develops.Using multiple network nodes erect come wireless network, the coverage of network can be allowed bigger, lead to
Letter ability is stronger, expands the range of application of wireless network.
In terms of disaster relief, existing communications facility is destroyed or in some natively areas without the network coverage
Domain, communication turns into the principal element of restriction rescue efficiency.People build communication network by placing fixed relaying in the environment
Network, but this method is very inconvenient, and also the utilization ratio of relaying is not high, and communication quality is not good.Using unmanned plane or
Unmanned vehicle builds the dispatching of relays node that wireless network can be random, but the method for dispatching of relays node can not be abundant at present
Influence of the consideration environment to wireless signal, have a strong impact on the communication quality of network.
In terms of family, with the development of Internet telephony, demand also more and more higher of the people for network insertion, it is desirable to
At home, the high-quality wireless networking of safety whenever and wherever possible is realized in the place such as office or market, there is many low costs at present
The WR systems of wireless router access scheme, such as TP-Link, millet route of millet company etc..But these routers business
What family was researched and developed is all fixed router, and the limited range communication for being covered, the router of single fixation has met not
The demand of people.
In space exploration field, prison of the lower wireless sensor network node realization to celestial body surface is dispensed by spacecraft
Survey, be a kind of economically viable scheme.In other fields, such as, sensor and executing agency's group in being embedded into furniture and household electrical appliances
Into wireless network and Internet link together will for we provides it is more comfortable, facilitate and intelligence with hommization
Domestic environment.Additionally, the various fields, nothing such as storehouse management, interactive museum, interacting toys, factory automation production line
Line ad-hoc network also plays important role, ensures for the completion of task provides reliable communication.
In recent years, conventional router starts to intelligent development, major leading Internet companies, such as millet, 360, Huawei,
Cisco etc. is all added in this field with keen competition, and they focus on the intellectuality of developing network access, such as intelligent packet
Filtering, parent's control, online shopping mall, video monitoring etc., and less for the robot automtion of router relate to summary.
For cordless communication network, have been achieved for preferably developing in terms of the communication protocol of optimization network, but
Arrangement network node aspect development is more slow.Arrangement fixed relay station of the people since most builds network, in utilization
Network is built after robot, but the optimum position for how finding each relaying is a difficult point of ad-hoc network.Due to
Wireless signal is highly susceptible to the influence of environment, and building network currently with robot is substantially in spacious region realization
's.The characteristics of for communication network, the present invention propose by two kinds obtain WiFi signals be distributed methods respectively obtain base station with
The signal distributions of via node consider influence of the environment to wireless signal well, then Autonomous Scheduling multiple mobile relay machine
Device people realizes that network connectivty is optimal.The present invention can be according to the change in location of communication node in environment, automatic adjustment in real time
The locus of each relaying so that communication network obtains optimal communication quality.
Patent of invention《A kind of mobilism MANET radio communication device》（Publication number：CN105515972A）The invention is proposed
A kind of mobilism MANET radio communication device, including central processing module, data processing module, SDRAM memory modules, synthesis
Business interface management module, modulation module, demodulation module and frequency-variable module, wherein data processing module are realized based on FPGA, right
Needing the IP data of transmitting carries out backstage encapsulation and data conversion, and the modulation system signaling comprising signal；Central processing module
Based on central processing element design, the instruction for calling data processing module Program is managed, data lump is processed,
Issue and control.The invention is to realize dynamic MANET from the data transfer between control module, and relaying is not related to
The scheduling of node.
Patent of invention《A kind of removable relaying robot of domestic type》(publication number：CN105871446A) the disclosure of the invention
A kind of method for realizing the network optimization as via node by the use of robot.The method is by obtaining the last the first of radio signal source
Degree, then obtains the second intensity of the signal of terminal, according to the first intensity and the second intensity, the position of adjustment relaying robot.
This method can not sufficiently consider influence of the environment to wireless signal, not have efficient robotic scheduling strategy, especially multiple
It is difficult to realize under miscellaneous environment, is all there is a problem of in the efficiency and quality of optimization network very big.
The content of the invention
In order to solve the problems of the prior art, the invention provides a kind of based on multirobot and gaussian signal model
Adaptive optimal ad hoc network method, mobile robot technology and WiFi signal modeling are combined, and realize relaying robot oneself
Dynamic scheduling so that the communication quality of network is optimal.
The invention provides a kind of adaptive optimal ad hoc network method based on multirobot and gaussian signal model, including
Following steps：
S1, the two-dimensional map drafting that whole working environment is carried out by main robot, the two of environment is drawn using laser and camera
Dimension map；
S2, main robot gather the WiFi signal sample point of base station, then in two-dimensional map or random walk process is drawn
WiFi signal is modeled, WiFi signal model is formed；
On the basis of S3, the WiFi signal model set up in step s 2, the optimal intermediate position of each robot is searched；
S4, after each robot obtains respective optimal intermediate position, main robot and utilize Meng Teka from robot
The method of Lip river positions its position in the environment respectively, and optimum position is moved to then along the path planned in real time.
As a further improvement on the present invention, in step S1, the drawing process of whole two-dimensional map is divided into front-end and back-end,
Front end is main to be made up of order registration and annular occlusion detection, and this two parts of front-end and back-end are believed according to the observation of sensor
Breath sets up restriction relation between robot node, front-end processing be local data relation, rear end is mainly to global data
Treatment, both complete structure and the optimization of figure altogether.
As a further improvement on the present invention, in step S1, the drawing process of whole two-dimensional map is：Pass through vision first
Method judge closed loop, after visual determination goes out closed loop, closed loop detection part of the system just to laser SLAM parts sends one
Individual closed signal, after robot receives this closed signal, begins to carry out the closed loop detection part of laser SLAM.
As a further improvement on the present invention, in step S2, for base station, by the WiFi samples for first gathering base station in environment
This point, the method for then being returned using Gaussian process estimates the WiFi signal value at other positions in environment；For in movement
After estimating the signal intensity at other positions in environment using WiFi Gauss models.
As a further improvement on the present invention, in step S3, in finding network on the feasible path between the two ends that communicate
After optimal location, wherein, feasible path be using based on probability sampling Rapid-Exploring Random Tree Algorithm planning base station and visitor
Path between the end of family；By the communication quality threshold for setting, according to environmental information, two kinds of WiFi signal models and communication two ends
Path, it is determined that the robot quantity of optimization network needs and each robot position in the environment.
As a further improvement on the present invention, in step S3, when a relaying robot is only needed to, ergodic communication
Optimal intermediate position is found in the path at two ends；When multiple robot optimization networks are needed, determined by the way of potential energy field
The robot quantity and each robot optimal location in the environment of needs.
As a further improvement on the present invention, in step S4, the path planned in real time uses D* algorithms.
The beneficial effects of the invention are as follows：By such scheme, influence of the environment to wireless signal, Neng Gougen have been taken into full account
According to the change in location of communication network node in environment, the locus of each relaying robot is dispatched in real time automatically so that logical
Communication network quickly obtains optimal communication quality.
Brief description of the drawings
Fig. 1 is a kind of entirety of the adaptive optimal ad hoc network method based on multirobot and gaussian signal model of the present invention
Schematic flow sheet.
A kind of adaptive optimal ad hoc network method based on multirobot and gaussian signal model of Fig. 2 present invention is two-dimensionally
Figure draws schematic flow sheet.
Fig. 3 is a kind of system of the adaptive optimal ad hoc network method based on multirobot and gaussian signal model of the present invention
Block schematic illustration.
Specific embodiment
The invention will be further described for explanation and specific embodiment below in conjunction with the accompanying drawings.
As shown in Figure 1 to Figure 3, a kind of adaptive optimal ad hoc network method based on multirobot and gaussian signal model,
Comprise the following steps：
1) step 1：The two-dimensional map for carrying out whole working environment by main robot is drawn.The present invention is painted using laser and camera
The 2D maps of environment processed, specific drafting flow is as shown in Figure 2.Whole drawing course is divided into front-end and back-end.Front end is main by suitable
Sequence registration and annular occlusion detection are constituted.This two parts is all that the pact between robot node is set up according to the observation information of sensor
Beam relation.Front-end processing be local data relation, rear end is mainly the treatment to global data, and both complete figure altogether
Structure and optimization.The present invention judges closed loop by the method for vision first, and after visual determination goes out closed loop, system is just to sharp
The closed loop detection part of light SLAM parts sends a closed signal.After robot receives this closed signal, begin into
The closed loop detection part of row laser SLAM.So, this strategy can make the laser SLAM carry out accurate closed loop detection.
2) step 2：Main robot gathers the WiFi signal sample point of base station in map or random walk process is set up,
Then WiFi signal is modeled.WiFi signal intensity is to weigh the reliable basis of WiFi communication quality, is obtained accurately
WiFi signal intensity is most important for whole network optimization, many not by environment, transmission power etc. yet with WiFi signal
The influence of certainty factor, causes the change of WiFi signal extremely complex.Believe in order to accurate WiFi in obtaining environment
Number value, according to communication the characteristics of, i.e., base station is substantially motionless, relaying robot moved with the movement of client, the present invention is carried
Go out two kinds of models to estimate the WiFi signal intensity of base station and relaying robot at other positions respectively.Firstly, for base
Stand, the present invention is the WiFi sample points by first gathering base station in environment, the method for then being returned using Gaussian process is estimated
WiFi signal value in environment at other positions.For mobile relay, the present invention is to estimate environment using WiFi Gauss models
Signal intensity at middle other positions.So, it is only necessary to know the position at environmental aspect and communication two ends, it is possible to obtain in real time
Obtain the signal intensity of the transmitting terminal route at receiving terminal.By two kinds of WiFi signal methods of estimation, can be good at considering environment
Influence to wireless signal, ensures that communication quality is optimal as far as possible.
3) step 3：On the basis of the WiFi signal model for being proposed in step 2, the optimal relaying of each robot is searched
Position.In order to improve the speed of optimization network, net is found on the feasible path only needed between the two ends that communicate of the invention
The optimal location of network relaying, wherein this paths is using rapidly-exploring random tree (RRT) algorithmic rule based on probability sampling
Path between base station and client, it is therefore an objective to obtain feasible path as soon as possible.Additionally, the present invention is by the communication quality threshold that sets
Value, according to the path of environmental information, two kinds of WiFi signal models and communication two ends, it is determined that the robot quantity that optimization network needs
With each robot position in the environment.For the difference of the robot quantity for needing, the present invention is sought using two ways
Look for optimal intermediate position.When a relaying robot is only needed to, the path at ergodic communication two ends is optimal to find
Intermediate position.When multiple robot optimization networks are needed, because the quantity with robot increases, the method time of traversal is complicated
Degree can greatly increase, so the mode that the present invention proposes potential energy field determines that the robot quantity for needing and each robot exist
Optimal location in environment.
4) step 4：After each robot obtains respective optimal intermediate position, main robot and from robot profit
Its position in the environment is positioned respectively with the method for Monte Carlo, and optimum bit is moved to then along the path planned in real time
Put, this paths uses D* algorithms, purpose obtains most short path.
A kind of adaptive optimal ad hoc network method based on multirobot and gaussian signal model that the present invention is provided, for
A kind of communication issue of remote node, it is proposed that new implementation method, mobile robot technology is mutually tied with WiFi signal modeling
Close, realize the Automatic dispatching of relaying robot so that the communication quality of network is optimal.
The present invention provide a kind of adaptive optimal ad hoc network method based on multirobot and gaussian signal model it is hard
Part system is constituted：System of the invention is constituted by main robot and from robot respectively.The chassis of principal and subordinate robot can carry
For odometer information, wherein main robot is equipped with laser, camera, WiFi routes and computer.From robot be equipped with laser,
Router and computer.Laser sensor uses most basic 2D laser sensors, using the teaching of the invention it is possible to provide place environment one is put down
The depth information in face, it is relatively low relative to 3D laser costs, using the teaching of the invention it is possible to provide information it is more accurate.Meet wanting for indoor navigation positioning
Ask.Monocular cam uses common USB camera, using the teaching of the invention it is possible to provide abundant environmental characteristic.There is provided using camera
Environmental characteristic, closed loop detection can be carried out when environmental map is drawn, and closed-loop information then is supplied into robot, so
Can allow robot that drawing is completed under the more similar environment of bigger environment or environmental characteristic.Main robot is responsible for early stage
Environmental Mapping, collection base station WiFi signal sample point, draw WiFi signal distribution map and optimization network determine repeater
Optimal location of device people etc..Only need to subscribe to its optimum position information of main robot transmission and move to optimal position from robot
Put, build wireless network, obtain the optimal communication quality of network.
As shown in figure 3, a kind of adaptive optimal based on multirobot and gaussian signal model that the present invention is provided is from group
The software system framework of network method：Optimize network relaying robot be divided into main robot and from robot, main robot and from
Robot is communicated by way of Socket.Main robot draws the 2D maps of environment, collection base station using laser and camera
WiFi sample points, the Wi-Fi hotspot model in the environment of training base station and optimization network and determine the robot for needing
Quantity and corresponding relaying robot location, and issue all robot optimal location information.It is optimal its to be subscribed to from robot
Position, then moves to optimum position.
A kind of adaptive optimal ad hoc network method based on multirobot and gaussian signal model that the present invention is provided, with reference to
Multirobot technology and WiFi signal modeling method, by dispatching of relays robot so that communication capacity between the node of communication
It is most strong.Environmental map is set up using laser plus video camera, the precision of environmental map is greatly improved, met in large-scale ring
Map is set up under border, is that the navigation of robot and positioning provide accurate information.In addition, according to the characteristics of communication, it is proposed that
Two kinds of communication signal modeling methods obtain the signal intensity of base station and relaying robot in the environment at other positions respectively.With reference to
Path and WiFi communication model between environment, communication ends, according to the requirement using robot quantity and communication quality, adjust
The position of each relaying robot is spent, so as to the communication quality for realizing network is optimal.The invention can be applied not only to family's clothes
Business robot, mine and battlefield, can be applied in disaster scene, and in disaster scene, existing communications facility is destroyed, or
Fast construction wireless network is realized in the case of not having communications facility, rescue effect is improved for rescue provides reliable communication network
Rate, there is very big application value.
Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to assert
Specific implementation of the invention is confined to these explanations.For general technical staff of the technical field of the invention,
On the premise of not departing from present inventive concept, some simple deduction or replace can also be made, should be all considered as belonging to of the invention
Protection domain.
Claims (7)
1. a kind of adaptive optimal ad hoc network method based on multirobot and gaussian signal model, it is characterised in that including with
Lower step：
S1, the two-dimensional map drafting that whole working environment is carried out by main robot, the two of environment is drawn using laser and camera
Dimension map；
S2, main robot gather the WiFi signal sample point of base station, then in two-dimensional map or random walk process is drawn
WiFi signal is modeled, WiFi signal model is formed；
On the basis of S3, the WiFi signal model set up in step s 2, the optimal intermediate position of each robot is searched；
S4, after each robot obtains respective optimal intermediate position, main robot and utilize Meng Teka from robot
The method of Lip river positions its position in the environment respectively, and optimum position is moved to then along the path planned in real time.
2. the adaptive optimal ad hoc network method based on multirobot and gaussian signal model according to claim 1, its
It is characterised by, in step S1, the drawing process of whole two-dimensional map is divided into front-end and back-end, and front end is mainly by order registration and ring
Shape occlusion detection is constituted, and this two parts of front-end and back-end are all that the pact between robot node is set up according to the observation information of sensor
Beam relation, front-end processing be local data relation, rear end is mainly the treatment to global data, and both complete figure altogether
Structure and optimization.
3. the adaptive optimal ad hoc network method based on multirobot and gaussian signal model according to claim 2, its
It is characterised by, in step S1, the drawing process of whole two-dimensional map is：Closed loop is judged by the method for vision first, when regarding
After closed loop is judged in feel, system just sends a closed signal to the closed loop detection part of laser SLAM parts, when robot is received
To after this closed signal, begin to carry out the closed loop detection part of laser SLAM.
4. the adaptive optimal ad hoc network method based on multirobot and gaussian signal model according to claim 1, its
It is characterised by, in step S2, for base station, by first gathering the WiFi sample points of base station in environment, then using Gaussian process
The method of recurrence estimates the WiFi signal value at other positions in environment；For mobile relay, using WiFi Gauss models come
Signal intensity in estimation environment at other positions.
5. the adaptive optimal ad hoc network method based on multirobot and gaussian signal model according to claim 1, its
It is characterised by, in step S3, the optimal location of network trunk is found on the feasible path between the two ends that communicate, wherein, it is feasible
Path is using based on the path between the Rapid-Exploring Random Tree Algorithm planning base station of probability sampling and client；By what is set
Communication quality threshold, according to the path of environmental information, two kinds of WiFi signal models and communication two ends, it is determined that what optimization network needed
Robot quantity and each robot position in the environment.
6. the adaptive optimal ad hoc network method based on multirobot and gaussian signal model according to claim 5, its
It is characterised by, in step S3, when a relaying robot is only needed to, the path at ergodic communication two ends is optimal to find
Intermediate position；When multiple robots optimization networks are needed, determined by the way of potential energy field the robot quantity that needs and each
Robot optimal location in the environment.
7. the adaptive optimal ad hoc network method based on multirobot and gaussian signal model according to claim 1, its
It is characterised by, in step S4, the path planned in real time uses D* algorithms.
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| 高亚军: "Autonomous WiFi-Relay Control with Mobile Robots", 《PROCEEDINGS OF THE 2016 IEEE INTERNATIONAL CONFERENCE ON REAL-TIME COMPUTING AND ROBOTICS》 * |
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