Research On AODV Routing Protocol For Multi-mobile Robot Communication Based On Ad Hoc Network

The ability of a single robot to acquire external information is very limited.It is the future trend to use multiple robots to accomplish complex tasks efficiently.When multiple robots jointly perform tasks,they need to synchronize or coordinate through information exchange,it is very important for the research of multi-mobile robot communication system.In view of the strong mobility and dynamic networking characteristics of distributed multi-mobile robot communication system,Ad Hoc is adopted as the networking mode.Routing protocol is a key factor to ensure the accurate operation of Ad Hoc network.In this paper,AODV routing protocol for multi-robot communication under Ad Hoc network is studied.Firstly,this paper summarizes the research background and current situation of this topic,introduces the related knowledge of multi-mobile robot communication and Ad Hoc network,discusses the routing protocol under Ad Hoc network,emphatically analyses the principle of AODV routing protocol,and simply explains the simulation environment of this topic.Secondly,an improved energy-optimized routing algorithm EAODV is proposed for the AODV routing protocol without considering the energy factor of the node and the mobile robot using the portable device to supply power.EAODV uses the energy grading method to associate the energy level with the function value of the metric routing performance and the probability of forwarding the routing request packet RREQ,and maps the energy and hop count factors into the routing table to select the optimal path.The experimental results show that the improved routing protocol utilizes the node energy in a balanced manner and effectively improves the network performance.Thirdly,based on the EAODV,the load level of each robot is measured on the basis of EAODV,and the routing protocol LEAODV based on load and energy improvement is proposed.In LEAODV,the average value of the MAC layer queue length monitored by multiple times is used to measure the node load level,and the forwarding probability of the routing request packet RREQ is reset based on the node load level and the energy level.The three factors of the total node load,energy and hop count are used to selected excellent path.The experimental results show that the improved routing protocol makes the load distribution in the network more uniform,which effectively reduces the end-to-end delay of mobile robot communication.Finally,the repair mechanism after the route failure in AODV protocol is limited to the problem after the link breaks.The routing protocol LEAODVR based on HELLO packet pre-repair is proposed.The AODV-BR backup routing strategy is adopted in the improved protocol LEAODVR,and the node energy and load metrics are added to the HELLO packet monitoring the connection status of adjacent nodes on the active path.The upstream node of the link uses the metric value to repair the link in advance.The experimental results show that the improved algorithm further improves the packet delivery rate of the data packet and reduces the frequency of route re-initiation.