Research On Multi-Robot Communication Based On AdHoc Network

With the development and integration of disciplines and technologies such as computer,communication,and network,scholars have deepened their research on robots.Robots have the ability to perceive environmental information,plan established tasks by themselves,and control intelligent tasks.They can acquire,process and identify information,autonomously complete more complex tasks,robots are the development direction of a new generation of information technology.Communication is the basis for information exchanging and cooperation among multi-robots.This thesis deeply studies multi-robot communication and AdHoc network.The existing AdHoc network routing algorithm is not well suited for multi-robot communication systems.In addition,robot failures will affect the connectivity and synchronization of the robot network,this thesis will study the communication routing and fault repair of multi-robot systems.Firstly,this thesis proposes a multi-robot communication routing algorithm based on improved ant colony AODV routing protocol.The routing algorithm combines the characteristics of multi-robot system to improve the ant colony algorithm and AODV routing algorithm by considering the moving speed and load of the robot node.The routing performance function is proposed to measure the communication routing of multi-robot system.The algorithm establishes two communication routes of primary route and alternate route.The simulation results show that the algorithm improves the packet delivery rate of multi-robot system,reduces normalized routing overhead and average end-to-end latency.Then,this thesis proposes a multi-robot fault repair algorithm based on gradient diffusion mechanism.A gradient distribution is generated in the multi-robot communication system through the gradient generation and diffusion mechanism,the optimal repair path is elected according to the election rules.The robot recursively repairs the network topology through local information interaction.Robot node additionally maintains 2-hop neighbor node table and optimal neighbor robot information,which are used to solve network interruption and repair path conflict caused by failure of multiple robots.The simulation results show that the algorithm can effectively recover the network topology of the fault system,ensure the connectivity and synchronization of the multi-robot network,and reduce the repair time of the faulty network.Finally,this thesis implements a multi-robot simulation system based on AdHoc network.The system includes the design of robot node information,the composition and implementation of the routing algorithm and fault repair algorithm.The system test shows the feasibility of applying the routing algorithm and fault repair algorithm proposed in this thesis to multi-robot systems.