CN108462983B - Multi-robot communication networking method based on improved ant colony AODV protocol - Google Patents

Multi-robot communication networking method based on improved ant colony AODV protocol Download PDF

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CN108462983B
CN108462983B CN201810193483.XA CN201810193483A CN108462983B CN 108462983 B CN108462983 B CN 108462983B CN 201810193483 A CN201810193483 A CN 201810193483A CN 108462983 B CN108462983 B CN 108462983B
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CN108462983A (en
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朱洪波
卢钊
余雪勇
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Nanjing University of Posts and Telecommunications
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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
    • 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
    • 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
    • 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
    • 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
    • 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 multi-robot communication networking method based on the improved ant colony AODV protocol specifically comprises the following steps: s1, the source robot node inquires whether a route reaching the target robot exists in the robot routing table; s2, judging whether the robot node receiving the improved route request message is a destination robot node or a route with a destination robot; s3, judging whether the intermediate robot node has the routing information of the active robot node; s4, looping step S3 until the target robot is found; s5, calculating the function value of the route performance according to the parameter of each feasible route, setting the route with the maximum function value as the main route and the route with the second maximum function value as the standby route. The method is based on the AODV protocol and the ant colony algorithm in the adhoc network, comprehensively considers the network load and the moving speed of the robot, establishes a routing performance function, obtains the optimal and suboptimal communication route for data transmission, effectively reduces the end-to-end time delay during multi-robot communication, increases the throughput and reduces the route overhead.

Description

Multi-robot communication networking method based on improved ant colony AODV protocol
Technical Field
The invention belongs to the field of wireless communication, and particularly relates to a multi-robot communication networking method based on an improved ant colony Ad hoc on-demand distance vector (AODV) protocol.
Background
The intelligent robot is an intelligent mobile device integrating a plurality of capabilities of sensing environmental information, autonomously planning established tasks, intelligently controlling tasks and the like, can acquire, process and identify various information, autonomously completes more complex operation tasks, and is one of the greatest inventions of the human 20 th century. With the development of robotics and the complexity of tasks, a single robot has limited information or capabilities, and some tasks are difficult or even impossible to accomplish for a single robot, and the research of multi-robot systems has become a trend. When multiple robots jointly execute tasks, the multiple robots need to synchronize and coordinate among the multiple robots through information exchange. Therefore, communication networking is the basis for information exchange and cooperation among robots, and the next task can be determined only if any one robot in networking can acquire real-time information of other robots.
The Adhoc self-organizing network is a communication network which is not supported by fixed basic equipment and consists of a plurality of nodes, and has the characteristics of no network center, node self-organization, dynamic change of network topology and the like. In the ad hoc network, each mobile node is a mobile terminal, which can be used as a host to receive and transmit data and can also be used as a route to forward data of other nodes. Therefore, the Adhoc network can provide peer-to-peer communication for robot communication, and is a feasible solution for solving multi-robot communication.
With the development of an Adhoc network, a Routing protocol applied to the Adhoc network is developed, an AODV (Adhoc On-demand Distance Vector Routing) is a Distance Vector Routing protocol as required, a path is searched when a source node needs to route to a destination node, the AODV has better comprehensive performance, and has the advantages of high bandwidth utilization rate, effective avoidance of generation of a Routing loop and the like, but only a single path is supported, when the network structure dynamically changes, path interruption easily occurs, and the path length is taken as a unique standard for Routing, so that the Routing is blind. The ant colony algorithm adopts a positive feedback mechanism distributed global optimization heuristic algorithm, the ant colony has the characteristics of arbitrary movement, spontaneous establishment, automatic arrangement and the like, and the characteristics are adapted to the AODV routing requirements. However, the ant colony algorithm has a low early convergence speed, wastes node resources and is easy to fall into a local optimal solution.
Disclosure of Invention
The invention aims to: a multi-robot communication networking method based on an improved ant colony AODV protocol is provided, based on the AODV protocol and the ant colony algorithm in an adhoc network, the network load and the moving speed of the robots are comprehensively considered, a routing performance function is established, and optimal and suboptimal communication routes are obtained to carry out data transmission among the robots.
In order to achieve the above object, a multi-robot communication networking method based on an improved ant colony AODV protocol is provided, which includes the following steps:
s1, the source robot node inquires whether a route reaching the target robot exists in the robot route table, if yes, the route with the maximum route performance function value is selected for data transmission, otherwise, the source robot node initiates route discovery and sends a route improvement request message to the adjacent robot node;
s2, judging whether the robot node receiving the improved route request message is a target robot node or a route with a target robot, if so, sending an improved route response message to the robot node, establishing a forward route, and updating a robot node route table on the path; otherwise, detecting the intermediate robot node;
s3, judging whether the middle robot node has the routing information of the active robot node, if so, indicating that an improved routing request message is received, comparing the source node serial number of the improved routing request message with the source node serial number in the routing table, discarding the routing information when the source node serial number of the improved routing request message is small, updating and forwarding the routing information when the source node serial number of the improved routing request message is large, and recording and establishing a reverse route when the serial numbers are the same; if the intermediate robot node is the routing information of the passive robot node, establishing a reverse route and updating the routing information;
s4, the intermediate robot node continues to forward the improved route request message, the step S3 is circulated until the target robot is found, a forward route is established, an improved route response message is generated and sent to the source robot node;
s5, calculating a route performance function value according to the pheromone, the data cache capacity and the robot moving speed of each feasible route, setting the route with the maximum function value as a main route and setting the route with the second maximum function value as a standby route.
The preferred scheme of the invention is as follows: when the main route is used for data transmission, the method also comprises the following steps:
updating pheromone, time delay, data cache capacity and robot moving speed of the main route passing through the robot in real time, and further updating a route performance function value;
the active robot periodically sends HELLO datagrams;
and judging whether the links of the adjacent robots are interrupted, if so, repairing or establishing a new route, and otherwise, normally transmitting.
Preferably, before step S1, a next-hop robot information entry is added to the robot routing table, where the next-hop robot information entry includes information quality, time delay, moving speed of the next-hop robot, data cache capacity of the next robot, and a routing performance function value.
Preferably, in step S2, the data cache capacity and the moving speed of the last-hop robot that sent the improved route request message are added to the improved route request message, and the data cache capacity and the moving speed of the last-hop robot that sent the improved route response message are added to the improved route response message.
Preferably, when the robot completes one cycle, the pheromones on each path are adjusted as follows:
τij(t+1)＝(1-ρ)·τij(t)+Δτij(t,t+1) (1)
Figure BDA0001592383940000031
Figure BDA0001592383940000032
wherein the content of the first and second substances,
Figure BDA0001592383940000033
for the pheromone value left on the path (i, j) by the kth robot at time (t, t +1), the constant Q is the total pheromone amount of the path, dijIs the time delay on path (i, j), Δ τij(t, t +1) is pheromone increment of the path (i, j) in the current cycle, and rho is pheromone volatilization coefficient.
Preferably, the robot moving speed formula is as follows:
Figure BDA0001592383940000034
wherein the content of the first and second substances,
Figure BDA0001592383940000035
to normalize velocity, VjIs the velocity, V, of the robot node jmaxThe maximum speed of the robot. For a robot node, the greater the normalized speed, the less chance that the node will be selected as an intermediate forwarding node in the route discovery process.
Preferably, the data buffer capacity formula of the robot is as follows:
Figure BDA0001592383940000036
wherein the content of the first and second substances,
Figure BDA0001592383940000041
to normalize capacity in a data cache queue, LjFor the capacity, L, in the current data cache queue of the robot node jmaxThe maximum capacity of the queue is cached for the robot data. For a robot node, the larger the capacity in the current data cache queue is, the higher the possibility of congestion of the node is, and the smaller the chance of being selected as an intermediate node is.
Preferably, the function of the routing performance function value is:
Figure BDA0001592383940000042
wherein P is a routing performance function value,
Figure BDA0001592383940000043
for the normalized velocity in equation (4),
Figure BDA0001592383940000044
for normalizing the capacity in the data buffer queue in equation (5)γ, λ, μ is the weight value, pij(t) is the transfer probability of selecting the robot node j at the robot i at the moment of the ant colony algorithm t, and the specific formula is as follows:
Figure BDA0001592383940000045
wherein N isiSet of neighbor points, τ, for robot iij(t) is the amount of information on the path (i, j) at time t, ηij(t) is a routing hop count heuristic function of ηij(t)＝1/hij,hijAnd alpha is an pheromone heuristic factor, the larger alpha is, the larger the chance of selecting a route is, beta is the hop heuristic factor, and the larger beta is, the larger the chance of selecting a route with larger hop is.
More preferably, the HELLO datagram is added with information parameters, including the time of sending HELLO, data buffer capacity and robot moving speed.
More preferably, the link interruption repair is specifically: firstly, locally repairing an interrupted route, if the interrupted route cannot be repaired locally, sending an improved route error message to a source robot, starting a standby route by the source robot for transmission, and when the main route and the standby route are both interrupted, re-discovering the route and establishing a new route.
The invention has the beneficial effects that: the method is based on the AODV protocol and the ant colony algorithm in the adhoc network, comprehensively considers the network load and the moving speed of the robot, establishes a routing performance function, obtains the optimal and suboptimal communication route to carry out data transmission among the robots, can effectively reduce the end-to-end time delay during multi-robot communication, increases the throughput, reduces the routing overhead, and has the advantages of stable link and strong applicability.
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The invention will be further described with reference to the accompanying drawings.
FIG. 1 is a flowchart illustrating the operation of the multi-robot communication networking method based on the improved ant colony AODV protocol according to the present invention;
FIG. 2 is a flow chart of a route discovery phase of the multi-robot communication networking method based on the improved ant colony AODV protocol of the present invention;
FIG. 3 is a schematic diagram of a message format of an improved route request message in the improved ant colony AODV protocol according to the present invention;
fig. 4 is a schematic diagram of a message format of an improved route reply message in the improved ant colony AODV protocol according to the present invention.
Detailed Description
Example one
Referring to fig. 1, the embodiment provides a multi-robot communication networking method based on an improved ant colony AODV protocol, and a route discovery phase is shown in fig. 2 and includes the following steps:
s1, the source robot node inquires whether a route reaching the target robot exists in the robot route table, if yes, the route with the maximum route performance function value is selected for data transmission, otherwise, the source robot node initiates route discovery and sends a route improvement request message to the adjacent robot node;
s2, judging whether the robot node receiving the improved route request message is a target robot node or a route with a target robot, if so, sending an improved route response message to the robot node, establishing a forward route, and updating a robot node route table on the path; otherwise, detecting the intermediate robot node;
s3, judging whether the middle robot node has the routing information of the active robot node, if so, indicating that an improved routing request message is received, comparing the source node serial number of the improved routing request message with the source node serial number in the routing table, if so, indicating that the routing information is overdue, discarding the routing information, if so, updating and forwarding the routing information, and if the serial numbers are the same, recording and establishing a reverse route, but not forwarding; if the intermediate robot node is the routing information of the passive robot node, establishing a reverse route and updating the routing information;
s4, the intermediate robot node continues to forward the improved route request message, the step S3 is circulated until the target robot is found, a forward route is established, an improved route response message is generated and sent to the source robot node;
s5, calculating a route performance function value according to the pheromone, the data cache capacity and the robot moving speed of each feasible route, setting the route with the maximum function value as a main route and setting the route with the second maximum function value as a standby route.
In the route maintenance phase, when the main route is used for data transmission, the method further comprises the following steps:
updating pheromone, time delay, data cache capacity and robot moving speed of the main route passing through the robot in real time, and further updating a route performance function value;
the active robot periodically sends HELLO datagrams;
and judging whether the links of the adjacent robots are interrupted, if so, repairing or establishing a new route, and otherwise, normally transmitting.
The rules, manner, etc. of the operations of the above steps S1-S5 will be described in detail below;
before step S1, a next-hop robot information entry is added to the robot routing table, where the next-hop robot information entry includes information quality, time delay, moving speed of the next-hop robot, data cache capacity of the next robot, and a routing performance function value.
In step S2, as shown in fig. 3, the improved Routing Request message (IRREQ) is added with the data cache capacity and the moving speed of the previous-hop robot that sent the improved Routing Request message, and as shown in fig. 4, the improved Routing Response message (IRREP) is added with the data cache capacity and the moving speed of the previous-hop robot that sent the improved Routing Response message.
When the robot completes one cycle, the pheromones on each path are adjusted as follows:
τij(t+1)＝(1-ρ)·τij(t)+Δτij(t,t+1) (1)
Figure BDA0001592383940000061
Figure BDA0001592383940000062
wherein the content of the first and second substances,
Figure BDA0001592383940000063
for the pheromone value left on the path (i, j) by the kth robot at time (t, t +1), the constant Q is the total pheromone amount of the path, dijIs the time delay on path (i, j), Δ τij(t, t +1) is pheromone increment of the path (i, j) in the current cycle, and rho is pheromone volatilization coefficient.
The robot moving speed formula is as follows:
Figure BDA0001592383940000071
wherein the content of the first and second substances,
Figure BDA0001592383940000072
to normalize velocity, VjIs the velocity, V, of the robot node jmaxThe maximum speed of the robot. For a robot node, the greater the normalized speed, the less chance that the node will be selected as an intermediate forwarding node in the route discovery process.
The data cache capacity formula of the robot is as follows:
Figure BDA0001592383940000073
wherein the content of the first and second substances,
Figure BDA0001592383940000074
to normalize capacity in a data cache queue, LjFor the capacity, L, in the current data cache queue of the robot node jmaxThe maximum capacity of the queue is cached for the robot data. For a robot node, the capacity in the current data buffer queueThe larger the probability that a node will be congested, the smaller the chance of being selected as an intermediate node.
The function of the routing performance function value is:
Figure BDA0001592383940000075
wherein P is a routing performance function value,
Figure BDA0001592383940000076
for the normalized velocity in equation (4),
Figure BDA0001592383940000077
is the capacity in the normalized data buffer queue in equation (5), with gamma, lambda, mu as weight values, Pij(t) is the transfer probability of selecting the robot node j at the robot i at the moment of the ant colony algorithm t, and the specific formula is as follows:
Figure BDA0001592383940000078
wherein N isiSet of neighbor points, τ, for robot iij(t) is the amount of information on the path (i, j) at time t, ηij(t) is a routing hop count heuristic function of ηij(t)＝1/hij,hijAnd alpha is an pheromone heuristic factor, the larger alpha is, the larger the chance of selecting a route is, beta is the hop heuristic factor, and the larger beta is, the larger the chance of selecting a route with larger hop is.
The HELLO datagram is added with information parameters including the time of sending HELLO, data buffer capacity and robot moving speed.
The link interruption repair specifically comprises: firstly, locally repairing an interrupted route, if the interrupted route cannot be repaired locally, sending an improved route Error message (IRERR) to a source robot, starting a standby route by the source robot for transmission, and when the main route and the standby route are both interrupted, re-discovering the route and establishing a new route.
The method is based on an AODV protocol and an ant colony algorithm in an adhoc network, comprehensively considers the network load and the moving speed of the robot, establishes a routing performance function, and obtains an optimal and suboptimal communication route to carry out data transmission among the robots.
In addition to the above embodiments, the present invention may have other embodiments. All technical solutions formed by adopting equivalent substitutions or equivalent transformations fall within the protection scope of the claims of the present invention.

Claims (6)

1. The multi-robot communication networking method based on the improved ant colony AODV protocol is characterized by comprising the following steps of:
s1, the source robot node inquires whether a route reaching the target robot exists in the robot route table, if yes, the route with the maximum route performance function value is selected for data transmission, otherwise, the source robot node initiates route discovery and sends a route improvement request message to the adjacent robot node;
s2, judging whether the robot node receiving the improved route request message is a destination robot node or a route with a destination robot; if yes, sending an improved route response message to the robot node, establishing a forward route, and updating a robot node routing table on the path; otherwise, detecting the intermediate robot node;
s3, judging whether the intermediate robot node has the routing information of the active robot node; if yes, indicating that the improved routing request message is received, comparing the source node serial number of the improved routing request message with the source node serial number in the routing table, discarding the routing information when the source node serial number of the improved routing request message is small, updating and forwarding the routing information when the source node serial number of the improved routing request message is large, and recording and establishing a reverse route when the serial numbers are the same; if the intermediate robot node is the routing information of the passive robot node, establishing a reverse route and updating the routing information;
s4, the intermediate robot node continuously forwards the improved route request message, the step S3 is circulated until the target robot is found, a forward route is established, an improved route response message is generated and sent to the source robot node;
s5, calculating a route performance function value according to the pheromone, the data cache capacity and the robot moving speed of each feasible route, setting the route with the maximum function value as a main route and the route with the second maximum function value as a standby route;
before step S1, adding a next-hop robot information entry to the robot routing table, where the next-hop robot information entry includes an pheromone value, a time delay, a moving speed of the next-hop robot, a data cache capacity of the next-hop robot, and a routing performance function value;
in step S5, when the robot completes one cycle, the pheromones on each path are adjusted as follows:
τij(t+1)＝(1-ρ)·τij(t)+Δτij(t,t+1) (1)
Figure FDA0003082434930000011
Figure FDA0003082434930000021
wherein, tauij(t) is the pheromone value on the path (i, j) at time t,
Figure FDA0003082434930000022
for the pheromone value left on the path (i, j) by the kth robot at time (t, t +1), the constant Q is the total pheromone amount of the path, dijIs the time delay on path (i, j), Δ τij(t, t +1) is pheromone increment of the path (i, j) in the current cycle, and rho is pheromone volatilization coefficient;
the robot moving speed formula is as follows:
Figure FDA0003082434930000023
wherein the content of the first and second substances,
Figure FDA0003082434930000024
to normalize velocity, VjIs the velocity, V, of the robot node jmaxIs the maximum speed of the robot; for a robot node, the higher the normalized speed is, the smaller the chance that the node is selected as an intermediate forwarding node in the route discovery process is;
the data cache capacity formula of the robot is as follows:
Figure FDA0003082434930000025
wherein the content of the first and second substances,
Figure FDA0003082434930000026
to normalize capacity in a data cache queue, LjFor the capacity, L, in the current data cache queue of the robot node jmaxCaching the maximum capacity of the queue for the robot data; for one robot node, the larger the capacity in the current data cache queue is, the higher the possibility of congestion of the node is, and the smaller the chance of being selected as an intermediate node is;
the function of the routing performance function value is:
Figure FDA0003082434930000027
wherein P is a routing performance function value,
Figure FDA0003082434930000028
in order to normalize the velocity of the vehicle,
Figure FDA0003082434930000029
to normalize the capacity in the data cache queue, γ, λ, μ are weight values, pij(t) Ant colony Algorithmthe transition probability of selecting the robot node j at the robot i at the moment t is specifically represented by the following formula:
Figure FDA0003082434930000031
wherein N isiSet of neighbor points, τ, for robot iij(t) is the pheromone, η, on the path (i, j) at time tij(t) is a routing hop count heuristic function of ηij(t)＝1/hij，hijAnd alpha is an pheromone heuristic factor, the larger alpha is, the larger the chance of selecting a route is, beta is the hop heuristic factor, and the larger beta is, the larger the chance of selecting a route with larger hop is.
2. The multi-robot communication networking method based on the improved ant colony AODV protocol according to claim 1, wherein the data transmission by using the master route further comprises the following steps:
updating pheromone, time delay, data cache capacity and robot moving speed of the main route passing through the robot in real time, and further updating a route performance function value;
the active robot periodically sends HELLO datagrams;
and judging whether the links of the adjacent robots are interrupted, if so, repairing or establishing a new route, and otherwise, normally transmitting.
3. The method for multi-robot communication networking based on the improved ant colony AODV protocol according to claim 1, wherein before step S1, a next-hop robot information table entry is added to the robot routing table, wherein the next-hop robot information table entry comprises an pheromone value, a time delay, a moving speed of the next-hop robot, a data cache capacity of the next-hop robot and a routing performance function value.
4. The method for multi-robot communication networking based on the improved ant colony AODV protocol according to claim 1, wherein in step S2, the improved routing request message is added with the data caching capacity and the moving speed of the last-hop robot that sent the improved routing request message, and the improved routing response message is added with the data caching capacity and the moving speed of the last-hop robot that sent the improved routing response message.
5. The method for multi-robot communication networking based on the improved ant colony AODV protocol according to claim 2, wherein information parameters including HELLO sending time, data buffering capacity and robot moving speed are added in the HELLO datagram.
6. The multi-robot communication networking method based on the improved ant colony AODV protocol according to claim 2, wherein the link outage repair specifically comprises: firstly, locally repairing an interrupted route, if the interrupted route cannot be repaired locally, sending an improved route error message to a source robot, starting a standby route by the source robot for transmission, and when the main route and the standby route are both interrupted, re-discovering the route and establishing a new route.
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