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| 面向果园多机器人通信的AODV路由协议改进设计与测试 | |
| 引用本文： | 毛文菊,刘恒,王东飞,杨福增,刘志杰. 面向果园多机器人通信的AODV路由协议改进设计与测试[J]. 智慧农业(中英文), 2021, 3(1): 96-108. DOI: 10.12133/j.smartag.2021.3.1.202101-SA001 |
| 作者姓名： | 毛文菊 刘恒 王东飞 杨福增 刘志杰 |
| 作者单位： | 西北农林科技大学 机械与电子工程学院，陕西杨凌 712100 农业农村部苹果全程机械化科研基地，陕西杨凌 712100 农业农村部北方农业装备科学观测实验站，陕西杨凌 712100 黄土高原土壤侵蚀与旱地农业国家重点实验室，陕西杨凌 712100 |
| 摘 要： | 针对多机器人在果园中作业时的通信需求,本研究基于Wi-Fi信号在桃园内接收强度预测模型,提出了一种引入优先节点和路径信号强度阈值的改进无线自组网按需平面距离向量路由协议(AODV-SP).对AODV-SP报文进行设计,并利用NS2仿真软件对比了无线自组网按需平面距离向量路由协议(AODV)和AODV-SP在发起频率、路... |
| 关 键 词： | 果园 AODV-SP路由协议 无线通信 多机器人 物理平台 仿真 |
| 收稿时间： | 2021-01-01 |
Improved AODV Routing Protocol for Multi-Robot Communication in Orchard |
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| MAO Wenju,LIU Heng,WANG Dongfei,YANG Fuzeng,LIU Zhijie. Improved AODV Routing Protocol for Multi-Robot Communication in Orchard[J]. Smart Agriculture, 2021, 3(1): 96-108. DOI: 10.12133/j.smartag.2021.3.1.202101-SA001 | |
| Authors: | MAO Wenju LIU Heng WANG Dongfei YANG Fuzeng LIU Zhijie |
| Affiliation: | College of Mechanical and Electronic Engineering, Northwest A&F University, Yangling 712100, China Apple Full Mechanized Scientific Research Base of Ministry of Agriculture and Rural Affairs, Yangling 712100, China Northern Agricultural Equipment Scientific Observation and Experimental Station, Ministry of Agriculture and Rural Affairs, Yangling 712100, China State Key Laboratory of Soil Erosion and Dryland Agriculture on Loess Plateau, Yangling 712100, China |
| Abstract: | To satisfy the communication needs of multiple robots working in orchards, an improved Ad Hoc on-demand distance vector routing protocol based on signal strength threshold and priority nodes (AODV-SP), and the prediction model of Wi-Fi signal reception in peach orchards, was proposed in this study. Different from the traditional AODV protocol, AODV-SP utilizes the idea of priority nodes and strength thresholds to construct a discovery routing algorithm and a selection routing algorithm by seeking priority nodes and calculating the maximum strength threshold between nodes, respectively. The discovery routing message and selection routing message of the AODV-SP protocol were designed according to the discovery routing and selection routing algorithms. To verify the performance of the AODV-SP protocol, the performance of the protocol with different maximum movement speeds of nodes was analyzed by using NS2 simulation software and the performance was compared with the traditional AODV protocol. The simulation results showed that the average end-to-end delay, route initiation frequency, and route overhead of AODV-SP protocol with the introduction of priority node and path signal strength thresholds were smaller than those of the traditional AODV protocol, and the packet delivery rate improved significantly compared with that of AODV protocol. Among them, when the maximum node movement speed was 5 m/s, the route initiation frequency and route overhead of AODV-SP protocol reduced by 3.65% and 7.09%, respectively, compared with AODV protocol. When the maximum node movement speed was 8 m/s, the packet delivery rate of AODV-SP protocol improved by 0.59% and the average end-to-end delay reduced by 13.09%. To further verify the simulation results of AODV-SP making AODV-SP protocol applicable to a multi-robot wireless communication system and ensure the normal operation of multi-robot wireless communication in orchards, a physical platform for multi-robot wireless communication was built in a laboratory environment, and software was designed to enable the physical platform to communicate properly under the AODV-SP protocol. And the physical platform for multi-robot wireless communication using the AODV-SP protocol was tested under static and dynamic conditions, respectively. The experiment results showed that, under static condition, when distance between nodes was less than or equal to 25 m, the packet loss rate of the robot was 0; when distance between nodes was 100 m, tthe packet loss rate of the robot was 21.01%, and the following robots could maintain the chain topology with the leader robot in dynamic conditions. Simulation and physical platform experiments results showed that the AODV-SP protocol could be used for the construction of multi-robot communication systems in orchard. |
| Keywords: | orchard AODV-SP protocol wireless multi-robot physical platform simulation |
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