implementation of robot in manet applications
DESCRIPTION
Implementation of Robot in MANET applications. 楊尚修. Professor:Lian-Jou Tsai Student:Chi-hao Feng PPT Production rate:90% Date:2011/10/26. Outline. Introduction 透過網路控制機器人的視窗介面 Mobile Ad Hoc Network Ad Hoc Network 路由協定 Table Driven : DSDV 、 OLSR - PowerPoint PPT PresentationTRANSCRIPT
Implementation of Robot in MANET applications
Professor:Lian-Jou TsaiStudent:Chi-hao FengPPT Production rate:90%Date:2011/10/26
楊尚修
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Outline Introduction 透過網路控制機器人的視窗介面 Mobile Ad Hoc Network Ad Hoc Network 路由協定
Table Driven : DSDV 、 OLSR On-Demand : DSR 、 AODV Hybrid : ZRP Loction-aware : LAR
Adaptive Dynamic Backbone Multicast ADBM 結合 LAR 模擬路由 模擬結果與分析 References
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Introduction
改善了傳統直接修改原始程式的方式，改以圖控做為人機介面，利於機器人的動作編輯及系統後續維護。
提出在未來機器人於 MANET 網路中，檔案的快速傳輸並兼顧穩定的重要性。
探討在 Ad hoc 多種路由方式並對其做出優缺比較，最後提出使用 ADBM 與 LAR 結合的路由方式，且加入環境判別、優先權機制，並做模擬提出數據。
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PC
AX-12 x 15
透過網路控制機器人的視窗介面 (1/2)
WiFiWiFi
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透過網路控制機器人的視窗介面(2/2)
Motor Control : 角度 , 速度 , 釋放
動作列表
動作速度
開始、停止、載入、儲存、初始化
動作訊息欄
wxPython
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Mobile Ad Hoc Network (MANET)
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OLSRDSDV
Ad Hoc Network路由協定
Routing Protocol in Ad Hoc Network
On-demandTable Driven Hybrid Location-aware Multipath
DSRAODVTORA
ZRPLAR
DREAMM-AODV
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Table Driven
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Destination Sequenced Distance Vector Routing ( DSDV )
A
B
C D
E
F
G
Des Next Hops
A C 1
B C 1
Des Next Hops
A D 2
B D 2
C D 1
Des Next Hops
A D 2
B D 2
C D 1
Des Next Hops
D E 1
D F 1
A E 3
B E 3
C E 2
A F 2
B F 3
C F 3
Des Next Hops
A C 1
B C 1
G E 1
G F 1
Des Next Hops
G D 2
E D 1
F D 1
Des Next Hops
D C 1
E C 2
F C 2
G C 3
Des Next Hops
D C 1
E C 2
F C 2
G C 3
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Optimized Link State Routing ( OLSR )
H
IF
E
C
G
D A
BB
Des Next Hops
C B 1
E B 1
D B 1
B
F
B
A
C
E
D
C
H
E
I
F
F
E
D
E
G
B
Des Next Hops
F C 1
F E 1
I E 1
G E 1
G D 1
E
F
Des Next Hops
C B 1
C F 1
D B 1
D G 1
A B 1
H F 1
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On-Demand
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Dynamic Source Routing ( DSR )
A E
B
F
DG
HI
J
K
C
A
A
A A-C
A-B
A-E
A-B-D
A-E-F
A-B-D-G
A-E-F-H
A-E-F-H
A-E-F-H-I
A-E-F-H-I
J
J-H
J-H-FJ-H-F-E
E-F-H-G
E-A-B
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Ad Hoc On-demand Distance Vector Routing (AODV)
B
DA
J
C
G
E
F
I
H
D N H
A B 1
A C 1D N H
A D 2 D N H
A G 3
A H 3
D N H
A D 2
A C 1
A E 2
D N H
A F 2
D N H
A I 4
A H 3
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Hybrid
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Zone Routing Protocol (ZRP)
A
B
C
D
E
G
F
HL
P
M
J
K
NQ
RO
IB
C
F
E
I
J
G
A
B
D
E
F
I
J
A
H
C
D
F
B
C
H
L
M
A
B
L
M
P
N
A
H
M
P
N
H
L
M
N
Q
R
L
L
M
N
Q
R
Q
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P
M
O
H
P
M
Q
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I
M
O
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N
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F
D
C
D
F
I
J
G
K
D F
HB P
N
F
J
D
G K
O
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Location-aware
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Location Aided Routing(LAR)
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路 由種 類
路 由協 定 優點 缺點
Teble Driven
DSDV 隨時記錄到達每一節點的路徑 當網路變大節點變多
時， routing table 所占的記憶體空間會越來越大
OLSR 不論網路的大小，每一節點的
routing table 都只記錄兩個 hops內的節點
網路的流量會集中在同一條路徑上，容易造成網路擁塞
On demand
DSR 需要建立連結時才送出請求，
並將封包所經過的路徑加在封包傳送
當網路變大時，所加在封包中的路徑訊息就會增加，導致傳送資料量變大
AODV
需要建立連結時才送出請求，並建 routing table 僅記錄可到達源節點的上一個節點
因為還是無法避免為了尋找目的節點所需的廣播，所以當網路變大時，對於網路流量的負擔就會增加
Hybrid ZRP
並不需要以廣播來尋找目的節點， routing table 中僅記錄所設定半徑範圍內的節點，網路的大小並不影響其網路流量
每個節點皆去建立半徑內節點的routing table ，所以在還沒開始建立連結就已經占據了許多頻寬
Location-aware LAR 以 GPS 座標的判斷限制廣播的範圍 每一節點需具備取得 GPS 座標的設
備
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Adaptive Dynamic Backbone Multicast(ADBM)
三個步驟維護路由表 :Neighbor node discoveryCore node selectionCore connection
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Neighbor node discovery
2
1
4
3
5
Fieldc Desc
ID 3
CoreID 2
degree 1
Hops 0
nlff 0
Update 0s
Fieldc Desc
ID 3
CoreID 4
degree 1
Hops 0
nlff 0
Update 0s
ID coreID
degree
hops nlff
3 3 0 0 0
First HELLO packet(from 3to 2)
First HELLO packet(from 3to 4)
First HELLO packet(from 4 to 5)
ID coreID
degree
hops nlff
3 3 0 0 0
ID coreID
degree
hops nlff
4 4 0 0 0Fieldc Desc
ID 4
CoreID 5
degree 1
Hops 0
nlff 0
Update 0s
Fieldc Desc
ID 2
CoreID 1
degree 1
Hops 0
nlff 0
Update 1.5s
Fieldc Desc
ID 1,3
CoreID 2
degree 2
Hops 0
nlff 0
Update 1.4s
Fieldc Desc
ID 2,4,5
CoreID 3
degree 3
Hops 0
nlff 0
Update 0.5s
Fieldc Desc
ID 3,5
CoreID 4
degree 2
Hops 0
nlff 0
Update 1s
Fieldc Desc
ID 3,4
CoreID 5
degree 2
Hops 0
nlff 0
Update 1.1s
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Core selection Process
2
１
4
3
5
Fieldc Desc
ID 1,3
CoreID 2
degree 2
Hops 0
nlff 0
Update 0s
Fieldc Desc
ID 2,5,4
CoreID 3
degree 3
Hops 0
nlff 0
Update 0s
2 3
Degree = 2 Degree = 3
nlff = 0 nlff = 0
3
Core node
Fieldc Desc
ID 1,3
CoreID 3
degree 2
Hops 0
nlff 0
Update 1ms
Fieldc Desc
ID 2,5,4
CoreID 3
degree 3
Hops 1
nlff 0
Update 0.5ms
Degree of 3 is bigger than 2
(3 becomes core node of 2)
Receive HELLO packet
Calculateweight
weight > neighbor node
weight
Updatenlist
Pick neighbornode as core
node
Updatenlist
START
FINISH FINISH
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Core Connection Process
１
２
２１
１
１１
２
２
Field Description
coreId 1
hops 2
nlff 0.001
Last updt .5 ms
Field Description
coreId 1
hops 1
nlff 0.001
Last updt .5 ms
Path #2
Path #2
Field Path２ Path1
coreId １ 1
hops 2 3
nlff 0.001 0.001
Last updt 0.6 ms 0.6 ms
Core Node
Core NodeCore Node 2Paht list
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ADBM
S
D
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A
C
GJ
E
DI
L
b
Y
B
H
F
U
KT
P
aX
Z
QM
N
OV
W
S
R
W
N
K
G
O
env_id env_priority env_type value
3 5 1 30
30
O
C
B
Q
b
U
ADBM結合 LAR
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模擬路由wxPython
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模擬結果與分析
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References
C.H. Kuo*, C.C. Chen, W.C. Wang, Y.C. Hung, E.C. Lin,K.M. Lee, Y.M. Lin, ” Remote Control Based Hybrid-Structure Robot Design for Home Security Applications” Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference onTakashi Okuda, ”A New Metrology of Usability Test for New Communication Media Humanoid Robot System” International Professional Communication Conference, 2006 IEEENoel Rappin, Robin Dunn, “wxPython in Action” ManningTime 研究室 , 顧思捷 , 陳錦輝 , “Linux c/c++ 網路程式設計” 金禾資訊Albert Y. Zomaya, “Algorithms and Protocols for Wireless and Mobile Ad Hoc Networks”C. E. Perkins and E. M. Royer, “Highly Dynamic Distination-Sequenced Distance-Vector Routing (DSDV) for Mobile Computer”, Proceeding of the 1994 ACM Special Interest Group on Data Communication, London, UK, Sep. 1994, pp.234-244.T. Clausen, P. Jacquet, A. Laouiti, P. Muhlethaler, A. Qayyum, and L. Viennot. Optimized, “link state routing protocol for ad hoc networks.” In: Proceedings of the IEEE INMIC, 2001, pp. 62–68.D. B. Johnson and D. A. Maltz, “Dynamic Source Routing in Ad Hoc Wireless Networks”, Mobile Computing, T. Imelinsky and H. Korth, eds., Kluwer Academic Publishers, 1996, pp.153-181C. Perkins and E. Royer. “Ad hoc on-demand distance vector routing.” In Proceedings of the Second IEEE Workshop on Mobile Computing Systems and Applications, 1999, pp. 99–100.Z. Hass and M. Pearlman, “The Performance of Query Control Schemes for the Zone Routing Protocol”, ACM SIGCOMM, Aug. 1998, pp. 167-177Y. B. Ko and N.H. Vaidya, “Location-Aided Routing (LAR) in Mobile Ad Hoc Networks”, IEEE Transactions on Parallel and Distributed Systems, Vol. 12, 2001, No. 10, pp.1023-1032
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