College of Information and Control Engineering, Xi'an University of Architecture and Technology, Xi'an 710055, China.
Sensors (Basel). 2023 May 15;23(10):4754. doi: 10.3390/s23104754.
An enhanced self-assembling network routing algorithm is proposed for the problem of weak connectivity of communication networks caused by factors such as movement or environmental interference in the construction and operation, and the maintenance of construction robot clusters. Firstly, the dynamic forwarding probability is calculated based on the contribution of nodes joining routing paths to network connectivity, and the robust connectivity of the network is achieved by introducing the connectivity feedback mechanism; secondly, the influence of link quality evaluation index Q balanced hop count, residual energy, and load on link stability is used to select appropriate neighbors for nodes as the subsequent hop nodes; finally, the dynamic characteristics of nodes are combined with the topology control technology to eliminate low-quality links and optimize the topology by link maintenance time prediction and to set robot node priority. The simulation results show that the proposed algorithm can guarantee a network connectivity rate above 97% under heavy load, reduce the end-to-end delay, and improve the network survival time, providing a theoretical basis for achieving stable and reliable interconnection between building robot nodes.
提出了一种增强的自组织网络路由算法，用于解决由于建筑物机器人集群的构建和运行以及维护过程中的移动或环境干扰等因素导致的通信网络弱连接性问题。首先，根据节点加入路由路径对网络连通性的贡献计算动态转发概率，并通过引入连通性反馈机制实现网络的鲁棒连通性；其次，利用链路质量评估指标 Q 平衡跳数、剩余能量和负载对链路稳定性的影响，为节点选择合适的邻居作为后续跳节点；最后，结合节点的动态特性和拓扑控制技术，通过链路维护时间预测消除低质量链路，并优化拓扑结构，设置机器人节点优先级。仿真结果表明，在重载情况下，所提出的算法可以保证网络连接率高于 97%，降低端到端延迟，提高网络生存时间，为实现建筑物机器人节点之间的稳定可靠互联提供了理论依据。
