| With multiple autonomous vehicle system that is composed of a plurality of wheeled mobile robot as the research background, according to Ad hoc network and NS-2 network simulation, this paper studies on optimization of the multiple autonomous vehicle network.First, this paper introduces the characteristics of mobile multi-robotics. Referring to TCP/IP five layers network model, this paper divides the levels of mobile multi-robotic communication network, describes the basic function of each level. After analyzing and comparing the two main kinds of wireless access technology, ZigBee and IEEE802.11, data shows that IEEE802.11 is more suitable for multiple autonomous vehicle networks. Then this paper researches network layer, transport layer and application layer respectively, and proposes optimization scheme for each layer. On the network layer, this paper introduces the three main single path routing protocols and multi-path routing protocol AOMDV, and uses the NS-2 simulator to analyze and compare the four kinds of routing protocols in detail, verifies that AOMDV can improve the performance of Ad hoc network, which provides the load balancing technology. On the transport layer, this paper analyzes the traditional TCP's problems in Ad hoc network, introduces the main solutions, especially the three kinds of end-to-end TCP improvement resolutions, proposes and verities that the ratio of RTT can distinguish the network congestion and route reconstruction. On the basis of experiments, and drawing lessons from ADTCP, this paper advances TCP DROR as a new TCP resolution and data shows that TCP DROR can work better in Ad hoc than TCP Reno by NS-2. Finally, this paper points out that the optimal topology is the hexagonal topology without blind area, which balances the connectivity and the coverage. In order to achieve this topology, this paper advances the dynamic topology deployment algorithm GVFPSO, which is effective verified by Matlab simulation, basing on the VF and PSO algorithm. |
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