Research On Relay Routing Rotocol Of Mobile Robot Group

In recent years,robotic networks have developed rapidly.Robot network has important applications in field rescue,battlefield communication,dangerous environment detection and other practical scenarios.In robotic networks,throughput and data packet transmission rate are key indicators to measure network performance.At the same time,in the high dynamic mobile scenario,the link is easy to break,so ensuring the stable transmission of data packets is an important technical difficulty of the robot communication system.In order to solve the problem of poor network performance in high dynamic scenarios.In this paper,a relay routing protocol RRPSBN based on servo backbone network is proposed to improve network throughput.In RRPSBN protocol,path planning strategy and routing strategy based on relay robot are proposed to ensure that relay can effectively enhance routing performance.When the routing cache of mobile node fails,the idle robot is enabled for relay transmission.Servo backbone network is established between relay robot and mobile base station by broadcasting.Packets routed to relay robots are further transmitted to mobile base stations through backbone networks.RRPSBN is simulated in NS3 simulation environment and compared with ROCOMAR,LBR and AODV routing protocols.The simulation results show that throughput increases by at least 10%under different group mobility models.In order to ensure the stable transmission of data packets,this paper proposes a relay routing protocol RRPSCS based on semi-coverage strategy.In RRPSCS,there are two routing mechanisms for ordinary mobile nodes:intra-group routing and inter-group routing.The intra-group routing mechanism guarantees that the data packets can reach the relay robot reliably,and the inter-group routing mechanism guarantees that the data packets can be quickly transmitted to the mobile base station.This paper proposes a uniform segmentation model for idle robots,which ensures that there are relay robots in different directions of the region,so as to expand the service range of the robot.The relay robot establishes the route from the relay robot to the mobile base station by sending broadcasts.The data packets on the relay robot are routed and forwarded through the nearest node within the relay robot range to the mobile base station until the data packets are sent to the mobile base station.RRPSCS is simulated in NS3 simulation environment and compared with CORMAN,ExOR and OLSR routing protocols.The simulation results show that the data packet accessibility rate is more than 80%,which is at least 15%higher than other protocols.