ISSN 0021-3454 (print version)
ISSN 2500-0381 (online version)

vol 64 / January, 2021

DOI 10.17586/0021-3454-2020-63-12-1081-1093

UDC 519.7


N. I. Khokhlov
PhD; JSC Academician A. Shipunov Iinstrument-Making Design Bureau; Deputy Managing Director for Armoured Vehicles, ATGW, Artillery Armament;

A. N. Ivutin
PhD, Associate Professor; Tula State University, Department of Computer Engineering; Head of The Department;

A. S. Novikov
PhD, Associate Professor; Tula State University, Department of Computer Engineering; Associate Professor;

Y. B. Podchufarov
Dr. Sci., Professor; JSC Academician A. Shipunov Iinstrument-Making Design Bureau; Department № 20; Head of the Department;

D. V. Larin
PhD; JSC Academician A. Shipunov Iinstrument-Making Design Bureau; Department № 20; Deputy Head of the Department;

M. S. Pestin
Tula State University, Department of Computer Engineering;

Abstract. A protocol is proposed for the functioning of a wireless decentralized self-organizing communication network to ensure interaction within a group of intelligent mobile robots in the process of solving their cooperative tasks. A set of requirements is formulated that must be satisfied by the protocols for building networks of this type, and the implementation of a hybrid communication protocol is described. The developed protocol and algorithms allow self-adaptation of a decentralized network and dynamic routing in it when the structure of the network changes in the event of a change in the relative position of nodes when they move in space or a strong deterioration in the parameters of communication channels between individual nodes due to various external influences. The correctness of the proposed protocol is confirmed by experimental studies of the network model operating on its basis. Modeling made it possible to assess the traffic parameters in the network and the load factors of communication channels by transferring applied and service data. Based on the results of the experiments, a rational justification for choosing the value of the time parameter of the HELLO_TIME protocol is proposed, which sets the time interval for polling neighboring nodes by the network nodes for dynamic tracking of changes in its structure. Recommendations are proposed that allow, due to the peculiarities of organizing the movement of mobile robots, to reduce the load on the network for the transmission of service traffic.
Keywords: network protocol, decentralized self-organizing network, wireless data networks, traffic routing algorithms, network model, network load factor, organization of communication between mobile robots

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