| Multi-robot system has more advantages than single robot system in the aspects ofdistribution, reliability, flexibility and economy. The System, which is composed of anumber of robots, can complete the work through coordination. Communication is thebase of the multi-robot system. Ad Hoc network is a good way to solve thecommunication problems of the multi-robot system. Ad Hoc networks arefull-distributed wireless packet switch networks. The distinguish features of thenetworks, which are self-organizing, self-managing, and multi-hop, make Ad Hocnetworks’ constructing more convenient and flexible. For now, there are many relativetechnologies which can implement Ad Hoc network. Among these technologies,Bluetooth has been chosen as a good one to implement Ad Hoc network because of itsself-organization, wireless-transmission, dynamic topology, low-power-cost and usageof ISM frequency. Therefore, this thesis chooses Ad Hoc network based on Bluetoothas the research object. The networking problems of Bluetooth Ad Hoc network inmulti-robot system are studied and discussed in this paper, the main works are asfollows:In accordance with the characteristics of multi-robot system communication, thelevels of mobile-robotic communication network are divided through OSI model andTCP/IP model, and the function of each level is described. The Ad Hoc network istreated as the support network for communication. In order to achieve easy andflexible communication between multi-robots, this paper introduces Bluetoothtechnology and uses the ARM processor and embedded Linux operating system tobuild development platform. Through network construction and Bluetooth socketprogramming based on BNEP layer, a relatively simple topology and rapidconstruction joint Ad Hoc network is been realized, meeting the basic needs of thecommunication between the robots.Aim at the problems of great overhead and lower stability in Ad Hoc routingprotocol, an ant colony algorithm is proposed. The ant foraging and labor division andtask allocation is the guiding ideology. To avoid the algorithm converging to the localoptimal solution and to improve global searching ability, both the state transitionstrategy and pheromone update strategy should be improved. Simulate the improvedalgorithm in OPNET, experiment results show that this algorithm has the lower packetloss rate and smaller average end-to-end packet transmission latency, and the routing overhead can be kept at acceptable range, and improve the efficiency of networkcommunication effectively. Therefore it has a potential applications in Ad Hocnetworks. |
