Research on a Multi-robot Routing Optimization Method Based on Hybrid Lora Location

摘要

The aim is to solve the problems of communication and positioning of the lunar robots without GPS and network base stations, improving communication efficiency and reducing communication energy consumption. A multi-robot communication routing optimization algorithm combined with Lora positioning is proposed. The algorithm combines Lora positioning technology and multi-robot communication routing optimization technology to dynamically update the distance information between robot groups. The Floyd algorithm with improved weight value is used to find the communication path with the lowest energy consumption and the highest transmission efficiency between robots. It enables each robot to transmit information along the optimal path, thereby effectively reducing the length of the transmission path and the corresponding network delay, and expanding the range of robot activities.. Simulation results show that the algorithm effectively reduces the network delay compared with the classic AODV (Ad Hoc on-demand distance vector) protocol and LEACH (Low Energy Adaptive Clustering Hierarchy) protocol, and effectively reduces the overall network energy consumption, avoiding robot groups Energy hole problem.