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Research on Routing Algorithm of Construction Robot Cluster Enhanced Ad Hoc Network
Ningke Wei1, Liang Zhao1, Dengfeng Chen1
1College of Information and Control Engineering, Xi'an University of Architecture and Technology, Xi'an 710055, China.
Sensors (Basel, Switzerland)
|July 11, 2023
Summary
This study introduces an enhanced routing algorithm for construction robot networks, improving connectivity and reliability. The algorithm ensures over 97% network connectivity, reduces delays, and extends network lifespan for robust robot communication.
Area of Science:
- Robotics
- Network Engineering
- Computer Science
Background:
- Construction robot clusters face weak network connectivity due to movement and environmental interference.
- Maintaining robust communication is crucial for the operation and maintenance of these robot clusters.
Purpose of the Study:
- To propose an enhanced self-assembling network routing algorithm for construction robot clusters.
- To address challenges of weak connectivity and ensure stable, reliable inter-robot communication.
Main Methods:
- Calculated dynamic forwarding probability based on node contribution to network connectivity.
- Introduced a connectivity feedback mechanism for robust network connections.
- Selected subsequent hop nodes considering link quality, hop count, residual energy, and load.
- Integrated dynamic node characteristics with topology control for link maintenance and node prioritization.
Main Results:
- Achieved a network connectivity rate exceeding 97% even under heavy load.
- Significantly reduced end-to-end delay in network communication.
- Improved the overall network survival time.
Conclusions:
- The proposed algorithm provides a theoretical basis for stable and reliable interconnection of building robot nodes.
- Demonstrated effectiveness in enhancing network performance for dynamic robotic systems.
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