栅格化无人机集群动态路由方法  

Netgrid Model-Based Dynamic Routing for UAV Swarm

作　　者：张敬棋 乔学良 吴凯 ZHANG Jingqi;QIAO Xueliang;WU Kai(Unit 61062,Beijing 100091,China)

机构地区：[1]61062部队,北京100091

出　　处：《信息工程大学学报》2025年第1期97-104,共8页Journal of Information Engineering University

摘　　要：无人机自组织网络节点进入或离开网络需要立即重新计算路由,如果在路由建立过程中不能充分获得位置信息,容易导致路由决策失误。针对此问题,提出一种栅格化无人机集群动态路由(NDR)方法。首先,将地面以上1000 m×1000 m×1000 m飞行区域进行栅格划分,无人机节点采用基于栅格ID的路由表达形式,在飞行过程中动态更新路由表进行路由决策。其次,论证基于栅格的概率路由方法,节点根据NDR策略选择待转发栅格,栅格中所有节点均有一定概率会被选做中继节点,代替事先选取网关的方法,有效减少路由空洞的发生概率,避免局部优化和数据包交付失败等问题。仿真实验证明,所提方法的无人机自组织网络节点能量消耗较慢,延迟与信令开销相比其他路由协议有明显降低,包投递成功率也提升近一倍。When nodes in the unmanned aerial vehicle(UAV)ad hoc network enter or leave the network,the routing needs to be recalculated immediately.If the location information cannot be obtained sufficiently during the routing establishment process,it is easy to lead to mistakes in routing decisions.To solve the above problems,a netgrid model-based dynamic routing(NDR)for UAV swarm is proposed.Firstly,the flight area 1000 m×1000 m×1000 m above the ground is divided into netgrids.The UAV node adopts the routing expression form of the netgrid ID.The routing table is dynamically updated to make routing decisions during the flight.Secondly,the netgrid-based probabilistic routing method is demonstrated in detail.The netgrid to be forwarded is selected according to the NDR strategy,and all nodes in the netgrid have a certain probability to be selected as relays,instead of selecting the gateway in advance,which can effectively reduce routing holes,and avoid local optimization and packet delivery failures.Simulation experiments demonstrate that less energy is consumed by using the proposed method of UAV ad hoc network nodes,the network delay and signaling overhead are significantly reduced compared with those of other routing protocols,and the success rate of packet delivery is also increased by nearly 100%.

关 键 词：无人机集群 栅格 概率路由 动态路由 

分 类 号：TP393.02[自动化与计算机技术—计算机应用技术]