Multi-robot Communication Network Routing Protocols

With the development of robot technology, people pay more and more attention to the multi-robotic system. It is proved that using multi-robotic system can achieve complicated task better. Communication is the base of multi-robotic system. Ad hoc network is a good way to solve the communication of the multi-robotic system the paper studies. The routing protocol is important to both ad hoc network and the communication of the multi-robotic system.In order to solve the communication of the multi-robotic system, the paper first studies the attributes of ad hoc network and compares it with GSM and GPRS. Second, the paper studies two routing protocols used in ad hoc DSR and AODV. Then a new algorithm for routing, which is named MRCSRP is proposed. Route discovery of MRCSRP uses source routing, but the node doesn't keep the whole routes in its route table and MRCSRP relies on dynamically establishing route table entries at intermediate nodes. The node uses the broadcasts from its neighbors and the data packets it hears to manage the local connectivity. It uses a destination sequence number for each route entry. Using destination sequence numbers ensures loop-free routing. Some optimizations are also proposed in the paper. The paper also includes an evaluation methodology and simulation results to verify the operation of MRCSRP. By comparing the performance of MRCSRP and AODV, it shows MRCSRP suits the multi-robotic system better.