Research On Topology Control And Routing Optimization Of Building Robot Ad Hoc Network

With the rapid development of wireless communication technology,mobile self-organizing networks have been rapidly developed as a crucial component.As a centerless wireless mobile communication network,it is widely used in areas such as military and personal communication because of its ability to establish quickly and without relying on infrastructure.Due to the dynamic nature of mobile self-organizing networks,network routing schemes are extremely challenging.In scenarios such as construction and operation and maintenance,where robot clusters need to work in coordination,an enhanced self-organizing network routing algorithm for construction robot clusters is proposed to address the problem that robot movement and environmental interference can cause weak connectivity in robot cluster communication networks.A connectivity rate feedback mechanism is added to the route discovery algorithm to fuse route path quality indicators,re-initiate route discovery on demand,and optimize the topology by eliminating low-quality links and setting robot node priorities to achieve stable and reliable communication among construction robots.The details of this paper are as follows:(1)Firstly,the weak connectivity of the communication network in the building environment is studied.Due to the limited link capacity in the self-organizing network and the low quality of the routing paths also affect the connectivity and survival time of the communication network.Therefore,from the perspective of network connectivity,this paper proposes an enhanced routing algorithm for building robot clusters to achieve dynamic and optimal adjustment of routing paths by establishing routing path quality evaluation indexes.Compared with the traditional routing algorithm,this algorithm has better performance in terms of average link quality and network throughput.(2)To ensure the connectivity of communication networks,the stability of network topology is improved from the perspective of topology control.Topology control technology is a crucial part of wireless self-assembling networks and an important tool to ensure the connectivity of communication networks.In this paper,low quality links are eliminated based on link maintenance time to reduce the complexity of topology and redundancy of routing paths;meanwhile,according to the different task nature of construction robots,the nodes of construction robots are prioritized,and the low priority nodes are used as relay nodes to ensure the connectivity among high priority nodes.(3)The routing rules of the enhanced self-organizing network routing algorithm for construction robot clusters are optimized by improving the sparrow search algorithm,i.e.,on the basis of maintaining the network connectivity,the influence of the node’s remaining energy,congestion degree and movement speed on its becoming the next hop node during multi-hop routing is established,the specific weight parameter is set,and the specific weight parameter is optimized using the improved sparrow search algorithm,so that the network can get the maximum connectivity rate.This algorithm is able to increase the network survival time while reducing the packet loss rate and end-to-end delay.