Research On Multi - Robot Communication Routing Protocol Based On Ad Hoc Network

Communication is the base to exchange information and cooperate smoothly between multi-robot system. However, using appropriate communication routing protocol is the prerequisite for ensuring the effectiveness and reliability of information transmission. Ad Hoc wireless network, a typical of self-organization network, is the feasible scheme to solve the problems of multi-robot communication, which can support dynamic changes of network topology and multi hop forwarding of data packets. However, due to the dynamic changes of Ad Hoc wireless network topology, the traditional routing protocols are no longer applicable, so routing protocol is always the hot topic in the research of Ad Hoc wireless network.Firstly, this paper introduced current communication methods of multi-robot system, and analyzed characteristics of these communication methods. Then the paper introduced the Ad Hoc wireless network and the current different kinds of protocols in Ad Hoc wireless network. According to different classifications, the paper introduced the implementation principle of the AODV routing protocol, the DSDV routing protocol and the DSR routing protocol in detail, besides, this paper conducted simulation experiments of these routing protocols and analyzed their performances and characteristics according to the simulation results.This paper made a profound study of the typical AODV routing protocol, analyzed its feature and working mechanism in detail, and pointed out its limitations. Then this paper analyzed the existing problems in the AODV protocol and optimized the progress in three aspects:(1) In order to relieve the congestion in the network, a kind of node cross-layer congestion algorithm was introduced in the routing discovery process of AODV routing protocol. The algorithm could avoid to use the node which has been in the congestion state when setting up routing by sharing the MAC layer information with network layer. (2) In order to improve the stability of the selected route, a kind of routing cost function was set up in the process of routing discovery, which could simultaneously consider the node hop and the node mobility, then the source node select the routing path according to the size of the routing cost. (3) In order to make full use of the routing reply information received by source node in the process of routing discovery, this paper solve the problem by making the source node add a backup routing path in addition to maintain a main routing path to the destination node, thus improving the reliability of the routing. Through analyzing the simulation results of the improved protocol, shows that the above algorithm improves the AODV routing protocol.This paper conducted a large number of simulation experiments of the AODV routing protocol and the improved AODV routing protocol based on NS2 network simulation platform. According to the results of simulation experiments, the improved AODV protocol could improve the packet delivery ratio, reduce the network delay and routing overhead under the network environment where the node mobility is high.