基于预测的移动机器人群位置路由协议

ue to the high mobility and frequent topology changes of mobile robot swarms, establishing stable routing becomes challenging. To solve the problem of frequent link interruption in mobile robot swarms, this paper proposes a prediction-based mobile robot swarms location routing protocol. In this protocol, a concept of trust degree is proposed to evaluate the degree of robot node trust. We use the location prediction method to calculate the link maintenance time, and use the link maintenance time, robot node residual energy, the distance between the robot node and the base station, and the hops to calculate the robot node trust. In the routing maintenance phase, the protocol uses relays to ensure robust and reliable routing. NS3 is used to evaluate the routing protocol proposed and compare it with the other three comparison protocols. Simulation results show that the protocols studied in this paper have good performance in terms of packet arrival rate and average hops.