分布式移动机器人通信网络的研究-模式识别与智能系统专业论文.docx

沈阳理工大学硕士学位论文 沈阳理工大学硕士学位论文 Abstract The capability for coordination among the multiple robots could perform the reliability and robustness in a multi-robot system. In order to getting though good cooperation and resource sharing with other robots, they need to be supported ad a framework for communication. Therefore, the communication between robots is essential. It also becomes a hot issue of multi-robot system. This article is based on multi-robot system’s communication network, we use Ad Hoc network theory to build a distributed communications network for mobile robot system, and combined with energy-saving ideas, in-depth analysis of the communication networks for distributed mobile robotic system. First this paper analyzes multi-mobile robotic system architecture and the overall structure of the distributed mobile robot, according to the Ad Hoc network theoretical foundation; we divide the multi-mobile robotic communication network into seven layers, and describe the basic functions of each layer. Second, by studying the theory of routing energy consumption measurement, this paper constructs the network channel model, and in this channel, this paper uses mathematical models to qualitatively describe the capacity of the region. Finally, the article focus on analysis of energy consumption issues for multi-robotic communication network’s systems, Ad Hoc network routing protocol design and energy saving issues, which will combine with the three routing protocols as a starting point to design energy-based control routing protocol, study the unity of purpose to the routing protocol According to the actual use conditions this paper using NS-2 network simulator simulates the network after it is improved, and compares three routing protocols under the different parameters settings. Experiments show that REBRP protocol has longer survival time, lower packet transmission delay, when change the robot’s speed and network load, preferably satisfy the low-power distributed mob