Research On Multi-robot System Routing And Communication Reliability Algorithm Based On Ad Hoc Network

Multi-robot system completes tasks through cooperation, and communication can makes the cooperation more harmonically and orderly, but communication also brings a series of problems. Because robots usually adopt wireless network communication, it has some problems about low bandwidth, time-lag and poor communication reliability, multi-robot communication is also affected by dynamic topology, so the problem of multi-robot communication need be solved is designed communication algorithm to make communication quickly and correctly by the least amount of traffic.In order to solve the problem of multi-robot system communication in the thesis, further studies about communication algorithm, and put forward a hybrid fish ant colony algorithm for optimizing routing protocol and an improved asynchronous distributed constraint optimization algorithm to deal with communication failure problem. The following are the main work during the research of this subject:Firstly, the thesis forms an Ad hoc network for multi-robot system, analysis the existing problem of multi-robot communication and currently solution. The article further studies several typical routing protocols of multi-robot system communication, with these routing protocols and particularity of multi-robot system, the thesis presents some requirements of excellent routing protocol suitable for multi-robot system.Secondly, the thesis presents the article presents a new kind of hybrid ant colony and artificial fish swarm algorithm routing protocol based on existing path routing protocols and the requirements for good routing protocols, and designs routing discovery process and routing update process of the routing algorithm in detail. On the basis, the article joins the cross-layer design for neighbor relation acknowledgement to change the content and count of messages on routing protocol for optimization. The article verifies the performance of the new routing protocol by opnet communication simulation software. Simulation results show that the new routing protocol can ensures rapid and exact route search and reduces the traffic.Finally, the article researches the problems of multi-robot communication failure in the complex environment, and establishes multi-robot system model by asynchronous distributed constraint optimization algorithm. In order to improve the communication quality of the robots, the article presents an improved asynchronous distributed constraint optimization algorithm, it can processes communication failures adaptively, and the impact ofcommunication failures for communication task is decreased. Finally through the instance verifies that the improved algorithm can ensures the communication efficiency and reduces the communication costs caused by packet loss.