Ad Hoc自组网解决了多机器人系统中网络拓扑结构动态变化和数据报文多跳转发的通信问题,决定节点能耗、最优路由和网络信息延迟等网络性能,是多机器人系统网络常用的通信方式;其中AODV协议能较好的在Ad Hoc自组网中适用,但由于多机器人系统中网络拓扑动态变化,传统的AODV协议的网络节点负载情况以及选择路由的准确性方面存在着一定缺陷;在AODV协议基础上,采用负载均衡算法的方式,对路由代价进行优化,以便更好的解决网络节点不均衡、出现拥塞时选路不准确的问题,更好的实现均衡节点能耗、优化路由以及减少网络信息延迟的目标;以NS2为网络仿真平台进行仿真,并对结果进行分析得,与AODV协议相比,改进之后的路由协议的提高了分组投递率、降低了平均端到端时延以及相对路由开销.%Ad Hoc network solves the communication problem of network topology dynamic structure and multi-hop forwarding of data packets in multi-robot system,and determines the network performance such as node energy consumption,optimal routing and network information delay.It is a commonly used way of communication for multi-robot system network.The AODV protocol can be applied in the Ad Hoc network,but there are some shortcomings in the network topology of the traditional AODV protocol and the accuracy of the selection route because the dynamic changes of the network topology in the multi robot system.Based on the AODV protocol,adopts the method of load balancing algorithm to optimize the routing cost to solve the problem that the network nodes are not balanced,and the congestion is not accurate.Better achieve energy consumption of balanced nodes,optimize routing and reduce the delay of network information.NS2 is used to simulate the network simulation platform,and the results are analyzed.The simulation results show that compared with the AODV protocol,the improved routing protocol improves the packet delivery rate and reduces the average end-to-end delay and the relative routing cost.
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