多移動(dòng)機(jī)器人系統(tǒng)中的無線自組織網(wǎng)絡(luò)研究.pdf

1、分類號TP242TN9295密級Y1219703重慶郵電大學(xué)碩士學(xué)位論文論文題且多移動(dòng)機(jī)器人系統(tǒng)中的無線自組織網(wǎng)絡(luò)研究英文題目ResearchonMobileAdHOCNetworkinmultirobotsystem碩士研究生靳洋指導(dǎo)教師張毅教授學(xué)科專業(yè)通信與信息系統(tǒng)論文提交日期2Q虹生5且論文答辯日期2nQ2生‘目1日論文評四人張德民教授重慶郵電大學(xué)苴盔盟面工蟲冒整動(dòng)通宜塞團(tuán)趣劃避讓公亙重醫(yī)盆公司答辯委員會主席張德民教授2007年6

2、月1日重鏖些皇丕堂塑主堡塞叁皇!咝AbstractRoboticisatophightechnologywhichcombinesmanyscientificsubjectsIthasattractedmoreandmoreinterestsasatypicalmodelofinformationtechnologyandtopmanufacture—abilityMulti—Robotsystemwhichhavepowerfulab

3、ilityinachievingallkindsofmissionshavebecomethemostpopulartopicofroboticresearchIthavegreatlyextendedthefunctionofsinglerobotsbycombiningthemwithsomekindofcontrolstrategyandcommunicationsub—systemAsartunitycommunicationi

4、sthefouudationofmulti—robotsystemMchileAdHOCNetworkisakindofdistributedselfconfiguratenetworkwhichcanfitthedemandofmultirobotsystemperfectlyThispaperisaboutRoutingProtocolinMANETonthebackgroundofmultirobotsystemInthispap

5、erthecharacteristicofmulti—robotsystemisgiven，andit’ScommunicationsubsystemaswellCommunicationsysteminmultirobotsystemshouldbedistributed，stable，survivable，widebandedandenergyeffectiveMANETiSakindofmulti—hopcommunication

6、networkwithoutinfrastructureThenetworkiSselfbuiltandselfconfiguredEachnodeinthenetworkfunctionsbothashostandrouterDataiStransferredhopbyhopbetweennodesAsnodesaremoving，thetopologyofMANETisdynamicchangingwhichmakestherout

7、inginMANETcomplicatedSpecificroutingprotocolmustbedesignedforMANETAODV，awidelyusedandstudiedMANETroutingprotocolisdescribedindetailAndlater，AntColonyalgorithmisintroducedwhichisanewkindofoptimizationalgorithminspiredbyth

8、ebehaviorofrealantcolonyItca／]findthebestsolutionbyalotofsimpleantagentsit’salsoakindofdistributedalgorithmwhichmakeitfittheneedsofMANETroutingproblemwellInthispaper，aroutingprotocolbasedonantcolonyalgorithmisproposedTof

9、itthemultirobotsystem，adjustmentshavebeenappliedtoprovidetheprotocoltheabilityofenergydistributionequityaswellasshortestpathByachievingenergyfairlydistributioninwholenetwork，thetimeofsinglenodefailhasbeendelayedAndasimul