Improved AODV Routing Protocol for Multi-Robot Communication in Orchard

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....

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Autores principales:	MAO Wenju, LIU Heng, WANG Dongfei, YANG Fuzeng, LIU Zhijie
Formato:	article
Lenguaje:	EN ZH
Publicado:	Editorial Office of Smart Agriculture 2021
Materias:	orchard aodv-sp protocol wireless multi-robot physical platform simulation Agriculture (General) S1-972 Technology (General) T1-995
Acceso en línea:	https://doaj.org/article/278bb02317404f9a979c9f098062e4c8
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spelling	oai:doaj.org-article:278bb02317404f9a979c9f098062e4c82021-11-17T07:52:00ZImproved AODV Routing Protocol for Multi-Robot Communication in Orchard2096-809410.12133/j.smartag.2021.3.1.202101-SA001https://doaj.org/article/278bb02317404f9a979c9f098062e4c82021-03-01T00:00:00Zhttp://www.smartag.net.cn/article/2021/2096-8094/2096-8094-2021-3-1-96.shtmlhttps://doaj.org/toc/2096-8094To 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.MAO WenjuLIU HengWANG DongfeiYANG FuzengLIU ZhijieEditorial Office of Smart Agriculturearticleorchardaodv-sp protocolwirelessmulti-robotphysical platformsimulationAgriculture (General)S1-972Technology (General)T1-995ENZH智慧农业, Vol 3, Iss 1, Pp 96-108 (2021)
institution	DOAJ
collection	DOAJ
language	EN ZH
topic	orchard aodv-sp protocol wireless multi-robot physical platform simulation Agriculture (General) S1-972 Technology (General) T1-995
spellingShingle	orchard aodv-sp protocol wireless multi-robot physical platform simulation Agriculture (General) S1-972 Technology (General) T1-995 MAO Wenju LIU Heng WANG Dongfei YANG Fuzeng LIU Zhijie Improved AODV Routing Protocol for Multi-Robot Communication in Orchard
description	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.
format	article
author	MAO Wenju LIU Heng WANG Dongfei YANG Fuzeng LIU Zhijie
author_facet	MAO Wenju LIU Heng WANG Dongfei YANG Fuzeng LIU Zhijie
author_sort	MAO Wenju
title	Improved AODV Routing Protocol for Multi-Robot Communication in Orchard
title_short	Improved AODV Routing Protocol for Multi-Robot Communication in Orchard
title_full	Improved AODV Routing Protocol for Multi-Robot Communication in Orchard
title_fullStr	Improved AODV Routing Protocol for Multi-Robot Communication in Orchard
title_full_unstemmed	Improved AODV Routing Protocol for Multi-Robot Communication in Orchard
title_sort	improved aodv routing protocol for multi-robot communication in orchard
publisher	Editorial Office of Smart Agriculture
publishDate	2021
url	https://doaj.org/article/278bb02317404f9a979c9f098062e4c8
work_keys_str_mv	AT maowenju improvedaodvroutingprotocolformultirobotcommunicationinorchard AT liuheng improvedaodvroutingprotocolformultirobotcommunicationinorchard AT wangdongfei improvedaodvroutingprotocolformultirobotcommunicationinorchard AT yangfuzeng improvedaodvroutingprotocolformultirobotcommunicationinorchard AT liuzhijie improvedaodvroutingprotocolformultirobotcommunicationinorchard
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Improved AODV Routing Protocol for Multi-Robot Communication in Orchard

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