CN108462983A - Based on the Communication of Muti-robot System network-building method for improving ant colony AODV agreements - Google Patents
Based on the Communication of Muti-robot System network-building method for improving ant colony AODV agreements Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L45/00—Routing or path finding of packets in data switching networks
- H04L45/02—Topology update or discovery
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L45/00—Routing or path finding of packets in data switching networks
- H04L45/22—Alternate routing
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L45/00—Routing or path finding of packets in data switching networks
- H04L45/28—Routing or path finding of packets in data switching networks using route fault recovery
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
- H04W40/026—Route selection considering the moving speed of individual devices
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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
Based on the Communication of Muti-robot System network-building method for improving ant colony AODV agreements, specifically include：With the presence or absence of the routing for reaching purpose robot in S1, source machine people's querying node robot routing table；S2, judgement, which receive, improves whether the robot node of route requests message is purpose robot node or the routing with purpose robot；S3 judges the routing iinformation of the whether active robot node of middle machine people node；S4, circulation step S3 are until finding purpose robot；S5, routing performance functional value is calculated according to the parameter of every feasible routing, the maximum routing of setting functional value is as main road by the big routing of functional value time is as alternate routing.This method is based on AODV agreements in adhoc networks and ant group algorithm, comprehensive consideration robot network loads and movement speed, establish routing performance function, optimal, suboptimum communication lines are obtained by carrying out data transmission, effectively reduce end-to-end time delay when Communication of Muti-robot System, increase handling capacity, reduces routing cost.
Description
Technical field
The invention belongs to field of wireless communication, and in particular to a kind of based on the Communication of Muti-robot System for improving ant colony AODV agreements
Network-building method.
Background technology
Intelligent robot is a kind of collection perception environmental information, numerous energy such as contexture by self assigned tasks, intelligent task control
For power in the Intelligent mobile equipment of one, it can obtain, handle and identify much information, the more complicated operation of autonomous completion
Task is one of 20th century of the mankind greatest invention.With the development of robot technology and the complexity of task, single machine
The information or ability that device people can obtain are limited, some tasks are very difficult for single robot or even can not complete
, the research of multi-robot system has become a kind of trend.When multirobot joint execution task, they need to pass through information
It exchanges to carry out the synchronization between multirobot and coordination.Therefore constructing communication network is the base of exchange information and cooperation between robot
Plinth, only any one robot can obtain the real time information of other robot in networking, just can determine that the task of next step.
Adhoc self-organizing networks are a kind of communication networks that no immobilizing foundation equipment is supported, is made of multiple nodes, are had
Without features such as network center, Nodes Self-organized and network topology dynamic changes.Adhoc self-organizing networks, each mobile node
It is exactly mobile terminal, you can using as host transceiving data, and can be as the data of other nodes of routing forwarding.Therefore,
Adhoc networks can provide the communication of equity for robot communication, be a kind of feasible scheme for solving Communication of Muti-robot System.
With the development of Adhoc networks, the Routing Protocol applied to Adhoc networks comes into being, AODV (Adhoc On-
Demand Distance Vector Routing) it is a kind of on-demand distance vector Routing Protocol, when source node needs mesh
Node routing when just find path, the comprehensive performance of AODV is preferable, has bandwidth availability ratio high, effectively avoids route loop
Generation the advantages that, but only support single path, when network structure change, path disruption be easy to happen, by path length
There is blindness as routing sole criterion.Ant group algorithm uses positive feedback mechanism distribution global optimization heuritic approach, ant
There are group characteristics, these characteristics such as arbitrary movement, spontaneous foundation, automatic arrangement to be adapted with AODV route requests.But ant colony is calculated
Method preconvergence speed is very slow, wastes node resource, is easily trapped into locally optimal solution.
Invention content
It is an object of the invention to：A kind of Communication of Muti-robot System network-building method based on improvement ant colony AODV agreements is provided,
Based on AODV agreements in adhoc networks and ant group algorithm, comprehensive consideration robot network load and movement speed establish road
By performance function, data transmission of optimal, the suboptimum communication lines by the carry out machine human world is obtained.
In order to reach object above, provide it is a kind of based on the Communication of Muti-robot System network-building method for improving ant colony AODV agreements,
Include the following steps：
With the presence or absence of the routing for reaching purpose robot in S1, source machine people's querying node robot routing table, and if it exists,
The maximum routing of routing performance functional value is then selected to carry out data transmission, otherwise, source machine human hair plays route discovery, to adjacent machine
Device people's node, which is sent, improves route requests message；
S2, judgement receive improve route requests message robot node whether be purpose robot node or have mesh
Robot routing, improve route replies message if so, being sent to robot node, establish forward route, update road
Jing Shang robots node route list；Otherwise, middle machine people's node is detected；
S3, the routing iinformation for judging the whether active robot node of middle machine people node, if so, then indicating to receive to change
Into routing request message, and it is big to compare source node sequence number in the source node sequence number and routing table of improving route requests message
It is small, it is small when comparing the source node sequence number of improving route requests message, then the routing iinformation is abandoned, when comparing improvement route requests
The source node sequence number of message is big, then updates and forward the routing iinformation, when sequence number is identical, then record and establish reverse route；
If the routing iinformation of the passive robot node of middle machine people's node, establishes reverse route and more new routing information；
S4, middle machine people's node continue forwarding and improve route requests message, and circulation step S3 is until finding purpose machine
People establishes forward route, and generates improvement route replies message and be sent to source machine people's node；
S5, routing performance is calculated according to the pheromones of every feasible routing, data buffer storage capacity and robot movement speed
Functional value, the maximum routing of setting functional value is as main road by the big routing of functional value time is as alternate routing.
The present invention preferred embodiment be：Further include following steps when using main road by carrying out data transmission：
Real-time update master is routed across pheromones, time delay, data buffer storage capacity and the robot movement speed of robot, into
And update routing performance functional value；
Movable robot periodically sends HELLO datagrams；
Judge whether the link of adjacent machines people interrupts, if so, new routing is repaired or is set up, it is otherwise, normal to pass
It is defeated.
Preferably, next-hop robot information table, next-hop robot are added before step S1, in robot routing table
Information table includes information quality, time delay, the movement speed of next-hop robot, the data buffer storage capacity of next robot and road
By performance function value.
Preferably, in step s 2, it improves addition in route requests message and sends the upper hop for improving route requests message
The data buffer storage capacity and movement speed of robot improve addition in route replies message and send the upper of improvement route replies message
One jumps the data buffer storage capacity and movement speed of robot.
Preferably, as follows to the adjustment of the pheromones on each path when robot completion one cycle：
τij(t+1)=(1- ρ) τij(t)+Δτij(t,t+1) (1)
Wherein,The pheromones value on path (i, j) is stayed at the moment (t, t+1) for k-th of robot, often
Measure the total information element amount that Q is path, dijFor the time delay on path (i, j), Δ τij(t, t+1) is path (i, j) in this cycle
Pheromones increment, ρ be pheromones volatility coefficient.
Preferably, robot movement speed formula is as follows：
Wherein,For normalizated velocity, VjFor the speed of robot node j, VmaxFor the maximum speed of robot.For
One robot node, normalizated velocity is bigger, then the node is chosen as the machines of intermediate forwarding nodes in route finding process
It can be smaller.
Preferably, the data buffer storage capacity formula of robot is as follows：
Wherein,For the capacity in normalization data buffer queue, LjFor in robot node j current data buffer queues
Capacity, LmaxFor the maximum capacity of robot data buffer queue.For a robot node, current data buffer storage team
Capacity in row is bigger, and the possibility that congestion occurs for node is bigger, and the chance for being chosen as intermediate node is smaller.
Preferably, the function of routing performance functional value is：
Wherein, P is routing performance functional value,For normalizated velocity in formula (4),To normalize number in formula (5)
According to the capacity in buffer queue, γ, λ, μ is weighted value, pij(t) it is that ant group algorithm t moment selects robot node in robot i
The transition probability of j, specific formula are：
Wherein, NiFor neighbours' point set of robot i, τij(t) it is the information content on t moment path (i, j), ηij(t) it is
Hop count heuristic function, function are:ηij(t)=1/hij,hijThe hop count of purpose robot is reached for robot node j, α is
Pheromones heuristic factor, α is bigger, then selects the chance of the bigger routing of pheromones value bigger, and β is hop count heuristic factor, and β is bigger,
The router for then selecting hop count bigger can be bigger.
It is highly preferred that add information parameter in HELLO datagrams, including send time of HELLO, data buffer storage capacity and
Robot movement speed.
It is highly preferred that link down reparation is specially：Centering open circuit is by carrying out local reparation first, if local can not repair
It is multiple, then sent to source machine human hair and improve routing error message, source machine people starts alternate routing and is transmitted, when main road by with it is standby
When being interrupted with routing, then route discovery is re-started, sets up new routing.
The present invention has the beneficial effect that：This method is based on AODV agreements in adhoc networks and ant group algorithm, comprehensive consideration
Robot network loads and movement speed, establishes routing performance function, obtains optimal, suboptimum communication lines by the carry out machine human world
Data transmission can effectively reduce end-to-end time delay when Communication of Muti-robot System, increase handling capacity, reduce routing cost, and have
There is the advantages of stable link, strong applicability.
Description of the drawings
The present invention will be further described below with reference to the drawings.
Fig. 1 is the work flow diagram based on the Communication of Muti-robot System network-building method for improving ant colony AODV agreements of the present invention；
Fig. 2 is the route discovery stage based on the Communication of Muti-robot System network-building method for improving ant colony AODV agreements of the present invention
Flow chart；
Fig. 3 is improvement route requests message form schematic diagram in the improvement ant colony AODV agreements of the present invention；
Fig. 4 is improvement route replies message form schematic diagram in the improvement ant colony AODV agreements of the present invention.
Specific implementation mode
Embodiment one
Referring to Fig. 1, the present embodiment provides a kind of Communication of Muti-robot System network-building method based on improvement ant colony AODV agreements,
The route discovery stage is as shown in Fig. 2, include the following steps：
With the presence or absence of the routing for reaching purpose robot in S1, source machine people's querying node robot routing table, and if it exists,
The maximum routing of routing performance functional value is then selected to carry out data transmission, otherwise, source machine human hair plays route discovery, to adjacent machine
Device people's node, which is sent, improves route requests message；
S2, judgement receive improve route requests message robot node whether be purpose robot node or have mesh
Robot routing, improve route replies message if so, being sent to robot node, establish forward route, update road
Jing Shang robots node route list；Otherwise, middle machine people's node is detected；
S3, the routing iinformation for judging the whether active robot node of middle machine people node, if so, then indicating to receive to change
Into routing request message, and it is big to compare source node sequence number in the source node sequence number and routing table of improving route requests message
It is small, when compare improve route requests message source node sequence number it is small, then illustrate that the routing iinformation is expired, abandon the routing letter
Breath, it is big when comparing the source node sequence number of improving route requests message, then it updates and forwards the routing iinformation, when sequence number is identical,
Reverse route is then recorded and established, but is not forwarded；If the routing iinformation of the passive robot node of middle machine people's node, is established
Reverse route and more new routing information；
S4, middle machine people's node continue forwarding and improve route requests message, and circulation step S3 is until finding purpose machine
People establishes forward route, and generates improvement route replies message and be sent to source machine people's node；
S5, routing performance is calculated according to the pheromones of every feasible routing, data buffer storage capacity and robot movement speed
Functional value, the maximum routing of setting functional value is as main road by the big routing of functional value time is as alternate routing.
Route maintenance phase further includes following steps when using main road by carrying out data transmission：
Real-time update master is routed across pheromones, time delay, data buffer storage capacity and the robot movement speed of robot, into
And update routing performance functional value；
Movable robot periodically sends HELLO datagrams；
Judge whether the link of adjacent machines people interrupts, if so, new routing is repaired or is set up, it is otherwise, normal to pass
It is defeated.
The operation rules of above-mentioned steps S1-S5, mode etc. will be described in detail below；
Next-hop robot information table, next-hop robot information table are added before step S1, in robot routing table
Data buffer storage capacity and routing performance of the item including information quality, time delay, the movement speed of next-hop robot, next robot
Functional value.
In step s 2, as shown in figure 3, improving route requests message (Improve Routing Request, IRREQ)
Middle addition sends the data buffer storage capacity and movement speed for the upper hop robot for improving route requests message, as shown in figure 4, changing
It is sent into addition in routing response message (Improve Routing Response, IRREP) and improves the upper of route replies message
One jumps the data buffer storage capacity and movement speed of robot.
It is as follows to the adjustment of the pheromones on each path when robot completion one cycle：
τij(t+1)=(1- ρ) τij(t)+Δτij(t,t+1) (1)
Wherein,The pheromones value on path (i, j) is stayed at the moment (t, t+1) for k-th of robot, often
Measure the total information element amount that Q is path, dijFor the time delay on path (i, j), Δ τij(t, t+1) is path (i, j) in this cycle
Pheromones increment, ρ be pheromones volatility coefficient.
Robot movement speed formula is as follows：
Wherein,For normalizated velocity, VjFor the speed of robot node j, VmaxFor the maximum speed of robot.For one
A robot node, normalizated velocity is bigger, then the node is chosen as the chances of intermediate forwarding nodes in route finding process
It is smaller.
The data buffer storage capacity formula of robot is as follows：
Wherein,For the capacity in normalization data buffer queue, LjFor in robot node j current data buffer queues
Capacity, LmaxFor the maximum capacity of robot data buffer queue.For a robot node, current data buffer storage team
Capacity in row is bigger, and the possibility that congestion occurs for node is bigger, and the chance for being chosen as intermediate node is smaller.
The function of routing performance functional value is：
Wherein, P is routing performance functional value,For normalizated velocity in formula (4),To normalize number in formula (5)
According to the capacity in buffer queue, γ, λ, μ is weighted value, Pij(t) it is that ant group algorithm t moment selects robot node in robot i
The transition probability of j, specific formula are：
Wherein, NiFor neighbours' point set of robot i, τij(t) it is the information content on t moment path (i, j), ηij(t) it is
Hop count heuristic function, function are:ηij(t)=1/hij,hijThe hop count of purpose robot is reached for robot node j, α is
Pheromones heuristic factor, α is bigger, then selects the chance of the bigger routing of pheromones value bigger, and β is hop count heuristic factor, and β is bigger,
The router for then selecting hop count bigger can be bigger.
Information parameter is added in HELLO datagrams, including sends time, data buffer storage capacity and the robot shifting of HELLO
Dynamic speed.
Link down reparation is specially：Centering open circuit is by carrying out local reparation first, if local can not repair, to source machine
Device human hair send improve routing error message (Improve Routing Error, IRERR), source machine people start alternate routing into
Row transmission then re-starts route discovery when main road with alternate routing by interrupting, and sets up new routing.
This method based on AODV agreements in adhoc networks and ant group algorithm, comprehensive consideration robot network load and
Movement speed establishes routing performance function, obtains data transmission of optimal, the suboptimum communication lines by the carry out machine human world.
In addition to the implementation, the present invention can also have other embodiment.It is all to use equivalent substitution or equivalent transformation shape
At technical solution, fall within the scope of protection required by the present invention.
Claims (10)
1. based on the Communication of Muti-robot System network-building method for improving ant colony AODV agreements, which is characterized in that include the following steps：
With the presence or absence of the routing for reaching purpose robot in S1, source machine people's querying node robot routing table, and if it exists, then select
Routing is carried out data transmission by the maximum routing of performance function value, and otherwise, source machine human hair plays route discovery, to adjacent machines people
Node, which is sent, improves route requests message；
S2, judgement receive improve route requests message robot node whether be purpose robot node or have purpose machine
The routing of device people；Route replies message is improved if so, being sent to robot node, establishes forward route, on more new route
Robot node route list；Otherwise, middle machine people's node is detected；
S3, the routing iinformation for judging the whether active robot node of middle machine people node；If so, then indicating to receive improvement road
By request message, and compare source node sequence number size in the source node sequence number and routing table of improving route requests message, when
The source node sequence number for comparing improvement route requests message is small, then abandons the routing iinformation, and route requests message is improved when comparing
Source node sequence number it is big, then update and forward the routing iinformation, when sequence number is identical, then record and establish reverse route；In if
Between the passive robot node of robot node routing iinformation, then establish reverse route and more new routing information；
S4, middle machine people's node continue forwarding and improve route requests message, and circulation step S3 is built until finding purpose robot
Vertical forward route, and generate improvement route replies message and be sent to source machine people's node；
S5, routing performance function is calculated according to the pheromones of every feasible routing, data buffer storage capacity and robot movement speed
Value, the maximum routing of setting functional value is as main road by the big routing of functional value time is as alternate routing.
2. according to claim 1 based on the Communication of Muti-robot System network-building method for improving ant colony AODV agreements, feature exists
In further including following steps when using main road by carrying out data transmission：
Real-time update master is routed across pheromones, time delay, data buffer storage capacity and the robot movement speed of robot, Jin Ergeng
New routing performance functional value；
Movable robot periodically sends HELLO datagrams；
Judge whether the link of adjacent machines people interrupts, if so, being repaired or being set up new routing, otherwise, normal transmission.
3. according to claim 1 based on the Communication of Muti-robot System network-building method for improving ant colony AODV agreements, feature exists
In, before the step S1, addition next-hop robot information table, next-hop robot information in robot routing table
List item includes information quality, time delay, the movement speed of next-hop robot, the data buffer storage capacity of next robot and routability
It can functional value.
4. according to claim 1 based on the Communication of Muti-robot System network-building method for improving ant colony AODV agreements, feature exists
In, in the step S2, the upper hop robot of addition transmission improvement route requests message in improvement route requests message
Data buffer storage capacity and movement speed improve addition in route replies message and send the upper hop machine for improving route replies message
The data buffer storage capacity and movement speed of people.
5. according to claim 1 based on the Communication of Muti-robot System network-building method for improving ant colony AODV agreements, feature exists
In as follows to the adjustment of the pheromones on each path when robot completion one cycle：
τij(t+1)=(1- ρ) τij(t)+Δτij(t,t+1) (1)
Wherein,The pheromones value on path (i, j) is stayed at the moment (t, t+1) for k-th of robot, constant Q is
The total information element amount in path, dijFor the time delay on path (i, j), Δ τij(t, t+1) is the letter in path (i, j) in this cycle
The plain increment of breath, ρ are pheromones volatility coefficient.
6. according to claim 1 based on the Communication of Muti-robot System network-building method for improving ant colony AODV agreements, feature exists
In the robot movement speed formula is as follows：
Wherein,For normalizated velocity, VjFor the speed of robot node j, VmaxFor the maximum speed of robot.For a machine
Device people's node, normalizated velocity is bigger, then in route finding process the node be chosen as intermediate forwarding nodes chance it is smaller.
7. according to claim 1 based on the Communication of Muti-robot System network-building method for improving ant colony AODV agreements, feature exists
In the data buffer storage capacity formula of the robot is as follows：
Wherein,For the capacity in normalization data buffer queue, LjFor the appearance in robot node j current data buffer queues
Amount, LmaxFor the maximum capacity of robot data buffer queue.For a robot node, in current data buffer storage queue
Capacity it is bigger, node occur congestion possibility it is bigger, the chance for being chosen as intermediate node is smaller.
8. according to claim 1 based on the Communication of Muti-robot System network-building method for improving ant colony AODV agreements, feature exists
In the function of the routing performance functional value is：
Wherein, P is routing performance functional value,For normalizated velocity in formula (4),It is slow for normalization data in formula (5)
The capacity in queue, γ, λ are deposited, μ is weighted value, pij(t) it is that ant group algorithm t moment selects robot node j's in robot i
Transition probability, specific formula are：
Wherein, NiFor neighbours' point set of robot i, τij(t) it is the information content on t moment path (i, j), ηij(t) it is routing
Hop count heuristic function, function are:ηij(t)=1/hij, hijThe hop count of purpose robot is reached for robot node j, α is information
Plain heuristic factor, α is bigger, then selects the chance of the bigger routing of pheromones value bigger, and β is hop count heuristic factor, and β is bigger, then selects
Selecting the bigger router of hop count can be bigger.
9. according to claim 2 based on the Communication of Muti-robot System network-building method for improving ant colony AODV agreements, feature exists
In adding information parameter in the HELLO datagrams, including send time, data buffer storage capacity and the robot movement of HELLO
Speed.
10. according to claim 2 based on the Communication of Muti-robot System network-building method for improving ant colony AODV agreements, feature exists
In the link down reparation is specially：Centering open circuit is by carrying out local reparation first, if local can not repair, to source machine
Device human hair send improve routing error message, source machine people start alternate routing be transmitted, when main road by with alternate routing it is equal in
When disconnected, then route discovery is re-started, sets up new routing.
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