面向果园多机器人通信的AODV路由协议改进设计与测试

doi:10.12133/j.smartag.2021.3.1.202101-SA001

Smart Agriculture ›› 2021, Vol. 3 ›› Issue (1): 96-108.doi: 10.12133/j.smartag.2021.3.1.202101-SA001

面向果园多机器人通信的AODV路由协议改进设计与测试

毛文菊^1,^2,³(), 刘恒^1,^2,³, 王东飞^1,^2,³, 杨福增^1,^2,^3,⁴(), 刘志杰^1,^2,³

^1.西北农林科技大学机械与电子工程学院，陕西杨凌 712100
^2.农业农村部苹果全程机械化科研基地，陕西杨凌 712100
^3.农业农村部北方农业装备科学观测实验站，陕西杨凌 712100
^4.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

收稿日期:2021-01-01 修回日期:2021-02-23 出版日期:2021-03-30
基金资助:
陕西省科技重大专项“苹果产业转型升级关键技术研发及产业化示范”专项(2020zdzx03-04-01)
作者简介:毛文菊（1987－），博士研究生，研究方向为农业多机器人协同关键技术。E-mail：vincentblack@nwafu.edu.cn。
通信作者: 杨福增（1966－），教授，博士生导师，研究方向为智能化农业机械装备技术。电话： 18049420386。E-mail：yangfzkm@nwafu.edu.cn

Improved AODV Routing Protocol for Multi-Robot Communication in Orchard

MAO Wenju^1,^2,³(), LIU Heng^1,^2,³, WANG Dongfei^1,^2,³, YANG Fuzeng^1,^2,^3,⁴(), LIU Zhijie^1,^2,³

^1.College of Mechanical and Electronic Engineering, Northwest A&F University, Yangling 712100, China
^2.Apple Full Mechanized Scientific Research Base of Ministry of Agriculture and Rural Affairs, Yangling 712100, China
^3.Northern Agricultural Equipment Scientific Observation and Experimental Station, Ministry of Agriculture and Rural Affairs, Yangling 712100, China
^4.State Key Laboratory of Soil Erosion and Dryland Agriculture on Loess Plateau, Yangling 712100, China

Received:2021-01-01 Revised:2021-02-23 Online:2021-03-30
corresponding author: YANG Fuzeng, E-mail：yangfzkm@nwafu.edu.cn
About author:MAO Wenju, E-mail：vincentblack@nwafu.edu.cn
Supported by:
Shaanxi Province Science and Technology Major Project "Apple Industry Transformation and Upgrading Key Technology Research and Development and Industrialization Demonstration" Special project (2020zdzx03-04-01)

摘要/Abstract

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、路由开销、平均端到端时延及分组投递率4个方面的性能。仿真试验结果表明，本研究提出的AODV-SP路由协议在发起频率、路由开销、平均端到端时延及分组投递率4个方面的性能均优于AODV协议，其中节点的移动速度为5 m/s时，AODV-SP的路由发起频率和路由开销较AODV分别降低了3.65%和7.09%，节点的移动速度为8 m/s时，AODV-SP的分组投递率提高了0.59%，平均端到端时延降低了13.09%。为进一步验证AODV-SP协议的性能，在实验室环境中搭建了基于领航-跟随法的小型多机器人无线通信物理平台并将AODV-SP在此平台应用，并进行了静态丢包率和动态测试。测试结果表明，节点相距25 m时静态丢包率为0，距离100 m时丢包率为21.01%；动态行驶时能使机器人维持链状拓扑结构。本研究可为果园多机器人在实际环境中通信系统的搭建提供参考。

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

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.

Key words: orchard, AODV-SP protocol, wireless, multi-robot, physical platform, simulation

中图分类号:

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.

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.

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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

Improved AODV Routing Protocol for Multi-Robot Communication in Orchard

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