CN106454991B - A kind of high usage router method in mobile robot network - Google Patents
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
- H04W40/18—Communication route or path selection, e.g. power-based or shortest path routing based on predicted events
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
- H04W40/20—Communication route or path selection, e.g. power-based or shortest path routing based on geographic position or location
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/24—Connectivity information management, e.g. connectivity discovery or connectivity update
- H04W40/246—Connectivity information discovery
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
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Abstract
The invention discloses the high usage router methods in a kind of mobile robot network.Its implementation is that the node in mobile robot network all creates a unfilled routing table.All nodes are broadcast periodically OGMs packet in network.Node first goes out the position in future according to information predictions such as current locations.Node fills in the various information in OGMs packet and just produces an OGMs packet.After the OGMs packet that other nodes receive, updates OGMs packet and continue to forward, final updating and maintenance routing table.Node is when needing to send data packet, after inquiring the routing table at current time, best next-hop node is selected to send data packet.The present invention solves the problems, such as to influence end-to-end communication and packet transmission success rate because of the high fluidity of node in existing mobile robot network, can be used for mobile robot network system.
Description
Technical field
The invention belongs to the high usage router methods in field of communication technology more particularly to a kind of mobile robot network.
Background technique
Mobile robot network is a pith of mobile ad-hoc network (MANET), enumerates every field not
The network of same type.The application range of mobile robot network from the dynamic transport management of vehicular ad hoc network (VANET) to
Unmanned vehicle (UAV) explores group communication stable when zone of ignorance.Since the node in mobile robot network has very
High mobility, how to maintain reliable communication end to end in network is the problem faced at present.B.A.T.M.A.N method
It is best method for routing at present, this method by node is broadcast periodically route test packet to update routing table, other
For node according to whether receiving route test packet to judge the superiority and inferiority of path performance, the path for finally selecting performance best sends data
Packet.This method can more be quickly obtained the topological structure of network while reducing link load, but this method is not
The variation tendency of topological structure can be predicted, so its routing performance is limited, is unable to maintain that after the enhancing of node mobility stable
End-to-end communication.
Summary of the invention
In view of the above-mentioned problems, the purpose of the present invention is to propose to a kind of high usage route sides applied to mobile robot network
Method predicts the variation tendency of network topology structure, quickly changes routing road by predicting the position in nodes future
Diameter, to reduce packet loss, improves packet transmission success rate, provides and more may be used to solve the problems, such as that robot network's router efficiency is low
The end-to-end communication leaned on.
To achieve the above object, the technical solution of this programme includes the following:
A kind of high usage router method in mobile robot network assigns Unified coding to the node in robot network
Address can uniquely determine a node by node address, and the current position of the node and current time are all known, packets
Include following steps:
Step 1: establishing routing table；
Step 2: node generates and updates OGMs packet；
Step 3: node updates routing table；
Step 4: selecting path according to routing table.
Further according to the high usage router method in mobile robot network, routing table is established described in step 1, it is described
Node in mobile robot network all creates a unfilled routing table, includes source address, neighbors address in routing table
And path score；
The source address is other all addresss of node in network in addition to this node, and the neighbors address is those
It is forwarded without other nodes, the address of node of this node data packet can be directly received, path score is measurement routed path
The value of performance quality, section described in path score are [0,1], and path score then illustrates that this path performance is better closer to 1.
Further according to the high usage router method in mobile robot network, node described in step 2 is generated and is updated
OGMs packet, all nodes are broadcast periodically OGMs packet in robot network, and the node of OGMs packet is received in network according to receipts
The OGMs packet arrived updates and maintenance routing table, carries out as follows:
Step (2-1) node generates OGMs packet, and the information in OGMs packet includes source address, neighbors address, current position
It setsThe position in futureIt is the path score for updating routing table with path score S, the path score S；
Nodes obtain last position according to current node location informationJudge current direction vector
Whether it is known that if known current direction vectorThen use vector prediction method:
ti+1Indicate the scheduled time,Indicate measure in advance in ti+1The location of moment node,Work as known to expression
Preceding position, tiIndicate known current time, Δ tuIndicate the time interval in known moving algorithm,Known to expression
Current direction vector, specifically,
The position predictedThen obtain last position
If unknown current direction vectorThen judge current waypoint locationWhether it is known that if known current waypoint locationThen use destination predicted method:
ti+1Indicate the scheduled time,Indicate measure in advance in ti+1The location of moment node,Known to expression
Current position, tiIndicate known current time,Indicate that known current waypoint location, v indicate known node motion
Speed, specifically,
The position predictedThen obtain last position
If unknown current waypoint locationThen use extrapolation:
ti+1Indicate the scheduled time,Indicate measure in advance in ti+1The location of moment node,Work as known to expression
Preceding position, tiIt indicates known current time, indicates known parameter with Ne, preset according to network mobility, specifically
,
The position predictedThen obtain last position
Source address and neighbors address are set as the address of node by node, current positionIt is set as the position of the node
It sets, the position in futureIt is set as the result predictedDivide S to be set as 1 in path, completes initialization OGMs packet；
Step (2-2) node receives and updates OGMs packet, and when node receives an OGMs packet, node will be updated OGMs packet
Interior information；
dstepIndicate the known maximum distance that can maintain minimum communication, d is indicated in counted OGMs packetTo this node
Distance, in the counted OGMs packet of d ' expressionTo the distance of this node, α indicates known balance parameters, SLIt is new calculated
Link score value, specifically,
S is the path score in OGMs packet, obtains new route score value S ', specifically there is S '=SSL；
NpIndicate known prediction algorithm number of iterations (artificially presetting), d is indicated in counted OGMs packetTo this section
The distance of point, in the counted OGMs packet of d ' expressionTo the distance of this node, dstepIt indicates known node step-length, uses
PTrend, maxIndicate known PtrendParameter maximum value, specifically,
Source address in nodes records OGMs packet, source address do not need to update, the neighbors in nodes records OGMs packet
It is updated to the address of node behind location, in OGMs packetIt is set as the current position of the node, in OGMs packet
It is set as the position predicted, the S in OGMs packet is set as the path score S ' obtained, then node completes the update of OGMs packet.
Further according to the high usage router method in mobile robot network, step 3 interior joint updates routing table, node
Source address, neighbors address and updated path score S ', the same neighbors of the source address extracted are extracted out of OGMs packet
As soon as address can uniquely determine a routing table record, recorded if increased before without this record in corresponding position, and
Corresponding path score caching is created, the path score S ' extracted is for updating path score caching；
Path score caching is updated, every routing table record all corresponds to a path score and caches, cache size N,
Indicate that most multipotency stores N number of path score, the purpose that setting path score caches is to make path score more representative, tuIt is road
The timer of diameter score value caching, timer tuRepresent update cycle, SCIt is the current score values of path score caching, SCRepresent this week
The path score of phase, it is every to obtain a S ' just S of update within the update cycleC, specifically, SC=max (SC, S '), every time
Compare the current score values S before updatingCDivide S ', updated S with pathCTake the maximum value in the two；
Timer tuTime-out indicates that the current update cycle terminates, SCIt is added to path score caching, if path point at this time
Value caching has been expired, and just a record being added earliest in path score caching is abandoned, adds newest SC；
Finally reset timer tu, reset current score values SCIt is 0；
Node obtains the average value of N number of path score in path score cachingThe path point of corresponding routing table record
Value S is updated toThen complete the update of routing table.
Further according to the high usage router method in mobile robot network, path is selected according to routing table in step 4,
Node is when needing to send data packet, after inquiring the routing table at current time, best next-hop node is selected to send data packet；
There are the destination node address for receiving this data packet, source address and destination node in querying node routing table in data packet
The identical routing table record in address；
There are neighbors address and path score in the record selected, compare their path score, selects path score most
Address of the big neighbors address as next-hop node；
After obtaining best next-hop node address, by the forwarding between node, node can be sent to data packet
The communication between node is completed in destination node address.
Compared with the prior art, the invention has the following advantages:
1. it is highest pre- precision to be automatically selected according to practical situation present invention employs completely new position predicting method
Survey method improves the precision of position prediction, has adapted to robot network's topological structure complicated and changeable.
2. the present invention takes into account current and prediction location information when selecting next-hop node, optimize next-hop node
Selection, to improve communication quality and packet transmission success rate.
Detailed description of the invention
Fig. 1 is the flow chart of the high usage router method in a kind of mobile robot network of the present invention；
Fig. 2 is the unfilled routing table created used in the method for the invention；
Fig. 3 is the position last according to information acquisitions such as current node locations in the method for the invention；
Fig. 4 is the schematic diagram of the update path score caching in the method for the invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention more comprehensible, below in conjunction with attached drawing, to of the present invention
Scheme and effect are described in further detail.
The address that Unified coding is assigned to the node in robot network, can uniquely determine a section by node address
Point.
The current position of the node and current time are all known.
As shown in Figure 1, the high usage router method in a kind of mobile robot network, specifically as follows:
Step 1: establishing routing table.
As shown in Fig. 2, the node in mobile robot network all creates a unfilled routing table.Include in routing table
Source address, neighbors address and path score.The source address is other all addresss of node in network in addition to this node；
The neighbors address is that those are forwarded without other nodes, can directly receive the address of node of this node data packet；Road
Diameter score value is the value for measuring routed path performance quality, and section described in path score is [0,1], and path score is then said closer to 1
Bright path performance is better.
Step 2: node generates and update OGMs packet, thought is that all nodes are broadcast periodically OGMs packet in network,
Other nodes are updated according to the OGMs packet received and maintenance routing table, carry out as follows:
Step (2-1) node generates OGMs packet.
Information in OGMs packet includes source address, neighbors address, current positionThe position in futureWith path point
Value S, the path score S are the path scores for updating routing table.
As shown in figure 3, the position last according to information acquisitions such as current node locationsJudge current direction vectorIt is whether known.
If known current direction vectorThen use vector prediction method, ti+1The expression scheduled time,What expression measured in advance
In ti+1The location of moment node,Indicate known current position, tiIndicate known current time, Δ tuIt indicates
The time interval in moving algorithm known,Indicate known current direction vector.Specifically,
The position predictedThen obtain last position
If unknown current direction vectorThen judge current waypoint locationIt is whether known.
If known current waypoint locationDestination predicted method is then used, t is usedi+1It indicates the scheduled time, usesIndicate prediction
In ti+1The location of moment node is usedIt indicates known current position, uses tiIndicate known current time,
WithIt indicates known current waypoint location, indicates known node motion speed with v.Specifically,
The position predictedThen obtain last position
If unknown current waypoint locationThen use extrapolation, ti+1The expression scheduled time,What expression measured in advance
The location of ti+1 moment node,Indicate known current position, tiIt indicates known current time, is indicated with Ne
Known parameter, presets according to network mobility.Specifically,
The position predictedThen obtain last position
Source address and neighbors address are set as the address of node by node, current positionIt is set as the position of the node
It sets, the position in futureIt is set as the result predictedDivide S to be set as 1 in path, completes initialization OGMs packet.
Step (2-2) node receives and updates OGMs packet.
When node receives an OGMs packet, it will be updated the information in OGMs packet.
dstepIndicate the known maximum distance that can maintain minimum communication, d is indicated in counted OGMs packetTo this node
Distance, in the counted OGMs packet of d ' expressionTo the distance of this node, α indicates known balance parameters.SLIt is new calculated
Link score value, specifically,
S is the path score in OGMs packet, obtains new route score value S ', specifically there is S '=SSL,
NpIndicate known prediction algorithm number of iterations (artificially presetting), d is indicated in counted OGMs packetTo this section
The distance of point, in the counted OGMs packet of d ' expressionTo the distance of this node, dstepIt indicates known node step-length, uses
PTrend, maxIndicate known ptrendParameter maximum value.Specifically,
Source address in nodes records OGMs packet, source address do not need to update.Neighbors in nodes records OGMs packet
It is updated to the address of node behind location, in OGMs packetIt is set as the current position of the node, in OGMs packet
It is set as the position predicted, the S in OGMs packet is set as the path score S ' obtained, then node completes the update of OGMs packet.
Step 3: node updates routing table.
Node extracts source address, neighbors address and updated path score S ' out of OGMs packet.The source extracted
As soon as address can uniquely determine a routing table record with neighbors address, if before without this record in corresponding position
Increase record, and create corresponding path score caching, the path score S ' extracted is for updating path score caching.
Path score caching is updated, every routing table record all corresponds to a path score and caches, cache size N,
Indicate that most multipotency stores N number of path score.The purpose that path score caching is arranged is to make path score more representative.Referring to figure
4, tuIt is the timer of path score caching, timer tuRepresent the update cycle.SCIt is the current score values of path score caching, SC
Represent the path score in this period.It is every to obtain a S ' just S of update within the update cycleC.Specifically, SC=max (SC,
S '), the current score values S before relatively updating every timeCDivide S ', updated S with pathCTake the maximum value in the two.
Timer tuTime-out indicates that the current update cycle terminates, SCIt is added to path score caching.If path at this time
Score value caching has been expired, and just a record being added earliest in path score caching is abandoned, adds newest SC。
Finally reset timer tu, reset current score values SCIt is 0.
Node obtains the average value of N number of path score in path score cachingThe path that corresponding routing table is recorded
Score value S is updated toThen complete the update of routing table.
Step 4: selecting path according to routing table.
Node is when needing to send data packet, after inquiring the routing table at current time, best next-hop node is selected to send
Data packet.
There are the destination node address for receiving this data packet, source address and destination node in querying node routing table in data packet
The identical routing table record in address.
There are neighbors address and path score in the record selected, compare their path score, selects path score most
Address of the big neighbors address as next-hop node.
After obtaining best next-hop node address, by the forwarding between node, node can be sent to data packet
The communication between node is completed in destination node address.
The above embodiment is merely an example for clearly illustrating the present invention, does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments, and thus amplify out it is obvious variation or
Variation is still in the protection scope of this invention.
Claims (2)
1. the high usage router method in a kind of mobile robot network, which is characterized in that the node in robot network assigns system
The address of one coding, can uniquely determine a node by node address, the current position of the node and current time be all
It is known, comprising the following steps:
Step 1: establishing routing table:
Node in the mobile robot network all creates a unfilled routing table, includes source address, neighbour in routing table
Node address and path score；
The source address is other all addresss of node in network in addition to this node, the neighbors address be those without
The forwarding of other nodes, can directly receive the address of node of this node data packet, and path score is measurement routed path performance
The value of quality, section described in path score are [0,1], and path score then illustrates that this path performance is better closer to 1；
Step 2: node generates and updates OGMs packet:
All nodes are broadcast periodically OGMs packet in robot network, and the node of OGMs packet is received in network according to receiving
OGMs packet updates and maintenance routing table, carries out as follows:
Step (2-1) node generates OGMs packet, and the information in OGMs packet includes source address, neighbors address, current position
The position in futureIt is the path score for updating routing table with path score S, the path score S；
Nodes obtain last position according to current node location informationJudge current direction vectorWhether
It is known that if known current direction vectorThen use vector prediction method:
ti+1Indicate the scheduled time,Indicate measure in advance in ti+1The location of moment node,Known to indicating currently
Position, tiIndicate known current time, Δ tuIndicate the time interval in known moving algorithm,Indicate known current
Direction vector, specifically,
The position predictedThen obtain last position
If unknown current direction vectorThen judge current waypoint locationWhether it is known that if known current waypoint locationThen
Using destination predicted method:
ti+1Indicate the scheduled time,Indicate measure in advance in ti+1The location of moment node,Known to indicating currently
Position, tiIndicate known current time,Indicate that known current waypoint location, v indicate known node motion speed, tool
Body,
The position predictedThen obtain last position
If unknown current waypoint locationThen use extrapolation:
ti+1Indicate the scheduled time,Indicate measure in advance in ti+1The location of moment node,Known to indicating currently
Position, tiIt indicates known current time, indicates known parameter with Ne, preset according to network mobility, specifically,
The position predictedThen obtain last position
Source address and neighbors address are set as the address of node by node, current positionIt is set as the position of the node,
The position in futureIt is set as the result predictedDivide S to be set as 1 in path, completes initialization OGMs packet；
Step (2-2) node receives and updates OGMs packet, and when node receives an OGMs packet, node be will be updated in OGMs packet
Information；
dstepIndicate the known maximum distance that can maintain minimum communication, d is indicated in counted OGMs packetTo this node away from
From in the counted OGMs packet of d ' expressionTo the distance of this node, α indicates known balance parameters, SLFor new calculated chain
Road score value, specifically,
S is the path score in OGMs packet, obtains new route score value S ', specifically there is S '=SSL；
NpIndicate known prediction algorithm number of iterations (artificially presetting), d is indicated in counted OGMs packetTo this node
Distance, in the counted OGMs packet of d ' expressionTo the distance of this node, dstepIt indicates known node step-length, uses PTrend, max
Indicate known PtrendParameter maximum value, specifically,
Source address in nodes records OGMs packet, source address do not need to update, behind the neighbors address in nodes records OGMs packet
It is updated to the address of node, in OGMs packetIt is set as the current position of the node, in OGMs packetIt is set as
The position predicted is set as the S in OGMs packet the path score S ' obtained, then node completes the update of OGMs packet；
Step 3: node updates routing table:
Node extracts source address, neighbors address and updated path score S ', the source address extracted out of OGMs packet
As soon as a routing table record can be uniquely determined with neighbors address, if increased before without this record in corresponding position
Record, and corresponding path score caching is created, the path score S ' extracted is for updating path score caching；
Path score caching is updated, every routing table record all corresponds to a path score caching, and cache size N is indicated
Most multipotency stores N number of path score, and path score caching can allow path score more representative, tuIt is determining for path score caching
When device, timer tuRepresent update cycle, SCIt is the current score values of path score caching, SCThe path score for representing this period,
It is every to obtain a S ' just S of update in update cycleC, specifically, SC=max (SC, S '), it is current before relatively updating every time
Score value SCDivide S ', updated S with pathCTake the maximum value in the two；
Timer tuTime-out indicates that the current update cycle terminates, SCIt is added to path score caching, if path score is slow at this time
Depositing has expired, and just a record being added earliest in path score caching is abandoned, adds newest SC；
Finally reset timer tu, reset current score values SCIt is 0；
Node obtains the average value of N number of path score in path score cachingThe path score S that corresponding routing table is recorded
It is updated toThen complete the update of routing table；
Step 4: selecting path according to routing table.
2. the high usage router method in mobile robot network according to claim 1, it is characterised in that basis in step 4
Routing table selects path, and node is when needing to send data packet, after inquiring the routing table at current time, selects best next-hop section
Point sends data packet；
There is the destination node address for receiving this data packet in data packet, source address and destination node address in querying node routing table
Identical routing table record；
There are neighbors address and path score in the record selected, compare their path score, selects path score maximum
Address of the neighbors address as next-hop node；
After obtaining best next-hop node address, by the forwarding between node, data packet can be sent to purpose by node
Node address completes the communication between node.
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| CN104683232A (en) * | 2015-03-27 | 2015-06-03 | 江苏大学 | A routing selection method capable of providing persistent connection service in VANET |
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| CN101004861A (en) * | 2006-11-08 | 2007-07-25 | 北京航空航天大学 | System for monitoring moving target on place of aerodrome |
| CN101217500A (en) * | 2008-01-21 | 2008-07-09 | 重庆邮电大学 | A Method for Energy Improvement of Multicast Routing in Wireless Ad Hoc Networks Based on MAODV Protocol |
| CN101272344A (en) * | 2008-04-25 | 2008-09-24 | 北京航空航天大学 | A Routing Method Based on Fuzzy Location Information for Mobile Sensor Networks |
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