Implementation of Robot in MANET applications

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 • 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

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。

透過網路控制機器人的視窗介面(1/2) WiFi WiFi PC AX-12 x 15

透過網路控制機器人的視窗介面(2/2) Motor Control :角度,速度,釋放 wxPython 動作列表動作速度開始、停止、載入、儲存、初始化動作訊息欄

Mobile Ad Hoc Network (MANET)

Ad Hoc Network路由協定 Routing Protocol in Ad Hoc Network Hybrid On-demand Location-aware Table Driven Multipath DSR LAR DSDV ZRP M-AODV AODV OLSR DREAM TORA

Table Driven

Destination Sequenced Distance Vector Routing ( DSDV ) A E C D G F B

Optimized Link State Routing ( OLSR ) H F F I C E E B B G D A

On-Demand

Dynamic Source Routing ( DSR ) C A-C A J-H-F-E K A E J-H-F A A-E F A A-E-F-H-I J-H A-E-F A-E-F-H I B H E-A-B A-E-F-H-I J A-B D E-F-H-G A-E-F-H J A-B-D-G G A-B-D

Ad Hoc On-demand Distance Vector Routing (AODV) B G D A I F C H J E

Hybrid

Zone Routing Protocol (ZRP) A L H H P P B B M Q C N N R I D D D F F F O O E J J G G K K

Location-aware

Location Aided Routing(LAR)

Adaptive Dynamic Backbone Multicast(ADBM) 三個步驟維護路由表: Neighbor node discovery Core node selection Core connection

Neighbor node discovery First HELLO packet(from 4 to 5) 1 First HELLO packet(from 3to 2) 5 3 2 4 First HELLO packet(from 3to 4)

Core selection Process １ START 5 Core node Receive HELLO packet 3 3 Degree of 3 is bigger than 2 (3 becomes core node of 2) 2 Calculate weight 4 weight > neighbor node weight Pick neighbor node as core node Update nlist Update nlist FINISH FINISH

Core Connection Process Path #2 １２ Core Node １ Core Node 2 Paht list Core Node ２２１１２ Path #2 １

ADBM D S

ADBM結合LAR Q Q M B B N N 30 V S A Y O O O H R K K C C P W W Z b b T L X D a U U I G E G J F

模擬路由 wxPython

模擬結果與分析

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 on • Takashi Okuda, ”A New Metrology of Usability Test for New Communication Media Humanoid Robot System” International Professional Communication Conference, 2006 IEEE • Noel Rappin, Robin Dunn, “wxPython in Action” Manning • Time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.153-181 • C. 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. 167-177 • Y. 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

Implementation of Robot in MANET applications