| The sea is rich in resources, thus the development and utilization of marine resources will be the main way of exploiting energy for all the counties in the future. And the underwater robot technology get unprecedented development, multi-robot cooperation technology is getting more and more attention. Currently, the cooperation communication technology adopted by the multi-robot is affected by the underwater acoustic communication,which including many restricting factors for underwater communication, such as the high delay, the high bit error rate, the echo interference and the long time to establish route to the destination. With the development of underwater acoustic communication technology, people begin to use the Ad Hoc networking technology in the water environment, and achieved good practical effect. With the aid of Ad hoc network layer, the negative effects (needing a long time to establish the route to destination, consuming more energy and energy consumption is not balanced,etc.) has been reduced caused by the dynamic topology. But this still can’t meet the requirements for low power consumption of multi-robot coordination communication.Here with the aid of Ad Hoc network technology and making full use of the geographical information of robots, an energy-efficient method is applied to the underwater environment routing protocol which is based on the MANET protocol. Based on its own underwater acoustic communication system, the multi-robot system forms a mobile local area network.First, the idea of the forward model is used here, and the election process of the forward cluster head and forward gateway are added to the clustering algorithm based on the comprehensive weights, which forms the directional energy saving routing toward the goal in the process of initializing the network topology. And in this way, we can balance the energy consumption of network, and further extend the survival time. Second, with the help of the concept of direction angle, the problem of forwarding the RREQ (Route Request) at any angle has been solved. So the energy of neighbor has been saved and the life cycle of the whole network has been extended. And then we can use the multipath mechanism to reply RREP,the source node save the extra RREPs to solve the RREQ retransmission caused by network link fracture. Simulation experiments are done to verify the energy saving benefits of the clustering algorithm based on the forward model and related routing optimization strategy.Here with the help of Matlab and NS-2 network simulation platform, we use the method of contrast verification, comparing the original on-demand routing protocol of AODV with the AODV protocol joined the former transmission law. Finally,It can be concluded that when the moving speed of robot is lower than a certain value (3-5 m/s), the network average survival time, the success transmission rate of data packets, the packet loss ratio and the network latency of the proposed protocol are superior to the traditional AODV. |
