樊飞等：巡线机器人延迟容忍传感器网络数据传输策略 .1421· 确地反应了机器人的消息传输概率.MPD利用消息 mobile sensor networks.Ad Hoc Netcorks,2013,11(4):1372 失效时间、机器人消息优先传输机制来进行队列管 [7]Feng W,Li S H.Energy efficient terminal-discovering in mobile 理.降低了机器人消息转发延时，提高了机器人数 delay tolerant ad-hoe networks//2013 International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery. 据传输成功率，并有效限制消息副本的产生.实验 Beijing,2013:465 显示MPD与现有DTMSN数据传输策略相比，MPD [8]Wu D P,He J,Wang H G.et al.A hierarchical packet forward- 在较小传输能耗下，获得了更好的传输延迟与传输 ing mechanism for energy harvesting wireless sensor networks. 成功率，是一种更适合架空输电线路与巡线机器人 IEEE Commun Mag,2015,53(8)92 作业特点的机器人数据传输算法. [9]Vahdat A,Becker D.Epidemic routing for partially-connected ad hoc neticorks [R/OL].Duke University (2000-04)[2017-10- 实验中，MPD成功实现一种针对巡线机器人的 31].http://issg.cs.duke.edu/epidemie 高效动态路由机制，但存在一些不足.为方便分析 [10]Wu H Y,Wang Y,Dang H,et al.Analytic,simulation,and 本文只假设了一个中心节点，而实际巡线机器人 empirical evaluation of delay/fault-tolerant mobile sensor net- DTMSN中会存在多中心节点，为使MPD更符合实 works.IEEE Trans Wireless Commun,2007,6(9):3287 际需要，应进一步展开更复杂环境的研究工作. [11]Wang Y,Wu H Y,Lin F,et al.Protocol design and optimiza- tion for delay/fault-tolerant mobile sensor networks /27th Inter- MPD算法中对网络传输损耗计算不足，为提升网络 national Conference on Distributed Computing Systems.Toronto, 生存能力应进一步研究降低传输能耗方法. 2007:7 [12]Yang K W.Zheng K F,Yang Y X,et al.Motion state-based da- 参考文献 ta delivery scheme of delay tolerant mobile sensor networks.J Commun,2010,31(11):138 [1]Wu G P,Xiao X H,Xiao H,et al.Development of a mobile in- (杨奎武，郑康锋，杨义先，等.基于运动状态的延迟容忍移 spection robot for high voltage power transmission line.Autom 动传感器网络数据传输策略.通讯学报，2010,31(11)： Electr Pouer Syst,2006,30(13):90 138) (吴功平，肖晓晖，肖华，等.架空高压输电线路巡线机器人 [13]Xu F L,Liu M,Gong H G,et al.Relative distance-aware data 样机研制.电力系统自动化，2006,30(13)：90) delivery scheme for delay tolerant mobile sensor networks.J Sof- [2]Lu J,Zhu Y P,Xu Z Q,et al.A reliable wireless sensor network ae,2010,21(3):490 routing method for power transmission line monitoring.Poer Syst (许富龙，刘明，龚海刚，等.延迟容忍传感器网络基于相对 Technol,.2017,41(2):644 距离的数据传输.软件学报，2010,21(3)：490) (陆俊，朱炎平，徐志强，等.面向输电线路监测的无线传感 [14]Liu T,Peng J,Yang J.Data delivery for heterogeneous delay tol- 网路可靠路由方法研究.电网技术，2017,41(2)：644) erant mobile sensor networks based on forwarding probability.J [3]Yang P,Si SS,Xu W,et al.Data forwarding strategy for wireless Software,2013,24(2):215 network with intermittent connectivity based on energy equilibri- (刘唐，彭舰，杨进.异构延迟容忍移动传感器网络中基于 um.Chin J Eng,2017,39(6):962 转发概率的数据传输.软件学报，2013,24(2)：215) (杨鹏，司书山，许稳，等.能量均衡的间断连接无线网络数 [15]Yasmine-Derdour,Bouabdellah-Kechar,Favcal-Khelfi M.Using 据转发策略.工程科学学报，2017,39(6)：962) mobile data collectors to enhance energy efficiency and reliability [4]Yao H,Huang H W,Zeng D Z,et al.An energy-aware deadline- in delay tolerant wireless sensor networks.J Inf Procession Syst, constrained message delivery in delay-tolerant networks.Wireless 2016,12(2):275 Netcorks,2014.20(7):1981 [16]Doshi S,Bhandare S,Brown T.An on-demand minimum energy [5]Gao W,Li Q H.Wakeup scheduling for energy-efficient communi- routing protocol for a wireless ad hoc network.Mobile Computing cation in opportunistic mobile networks//2013 Proceedings IEEE Commun Rev,2002,6(3):50 NF0C0M.Tuim,2013:2058 [17]Sommer C,Dietrich I,Dressler F.Simulation of ad hoc routing [6]Li Z B,Guo Z W,Hong F,et al.E2 DTS:an energy efficiency protocols using OMNeT ++Mobile Nencorks Appl,2010,15 distributed time synchronization algorithm for underwater acoustic (6):786樊 飞等: 巡线机器人延迟容忍传感器网络数据传输策略 确地反应了机器人的消息传输概率. MPD 利用消息 失效时间、机器人消息优先传输机制来进行队列管 理. 降低了机器人消息转发延时,提高了机器人数 据传输成功率,并有效限制消息副本的产生. 实验 显示 MPD 与现有 DTMSN 数据传输策略相比,MPD 在较小传输能耗下,获得了更好的传输延迟与传输 成功率,是一种更适合架空输电线路与巡线机器人 作业特点的机器人数据传输算法. 实验中,MPD 成功实现一种针对巡线机器人的 高效动态路由机制,但存在一些不足. 为方便分析 本文只假设了一个中心节点,而实际巡线机器人 DTMSN 中会存在多中心节点,为使 MPD 更符合实 际需要,应进一步展开更复杂环境的研究工作. MPD 算法中对网络传输损耗计算不足,为提升网络 生存能力应进一步研究降低传输能耗方法. 参 考 文 献 [1] Wu G P, Xiao X H, Xiao H, et al. Development of a mobile in鄄 spection robot for high voltage power transmission line. Autom Electr Power Syst, 2006, 30(13): 90 (吴功平, 肖晓晖, 肖华, 等. 架空高压输电线路巡线机器人 样机研制. 电力系统自动化, 2006, 30(13): 90) [2] Lu J, Zhu Y P, Xu Z Q, et al. A reliable wireless sensor network routing method for power transmission line monitoring. Power Syst Technol, 2017, 41(2): 644 (陆俊, 朱炎平, 徐志强, 等. 面向输电线路监测的无线传感 网络可靠路由方法研究. 电网技术, 2017, 41(2): 644) [3] Yang P, Si S S, Xu W, et al. Data forwarding strategy for wireless network with intermittent connectivity based on energy equilibri鄄 um. 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IEEE Commun Mag, 2015, 53(8): 92 [9] Vahdat A, Becker D. Epidemic routing for partially鄄connected ad hoc networks [R/ OL]. Duke University (2000鄄鄄04) [2017鄄鄄10鄄鄄 31]. http: / / issg. cs. duke. edu / epidemic [10] Wu H Y, Wang Y, Dang H, et al. Analytic, simulation, and empirical evaluation of delay / fault鄄tolerant mobile sensor net鄄 works. IEEE Trans Wireless Commun, 2007, 6(9): 3287 [11] Wang Y, Wu H Y, Lin F, et al. Protocol design and optimiza鄄 tion for delay / fault鄄tolerant mobile sensor networks / / 27th Inter鄄 national Conference on Distributed Computing Systems. Toronto, 2007: 7 [12] Yang K W, Zheng K F, Yang Y X, et al. Motion state鄄based da鄄 ta delivery scheme of delay tolerant mobile sensor networks. J Commun, 2010, 31(11): 138 (杨奎武, 郑康锋, 杨义先, 等. 基于运动状态的延迟容忍移 动传感器网络数据传输策略. 通讯学报, 2010, 31 (11 ): 138) [13] Xu F L, Liu M, Gong H G, et al. Relative distance鄄aware data delivery scheme for delay tolerant mobile sensor networks. J Soft鄄 ware, 2010, 21(3): 490 (许富龙, 刘明, 龚海刚, 等. 延迟容忍传感器网络基于相对 距离的数据传输. 软件学报, 2010, 21(3): 490) [14] Liu T, Peng J, Yang J. Data delivery for heterogeneous delay tol鄄 erant mobile sensor networks based on forwarding probability. J Software, 2013, 24(2): 215 (刘唐, 彭舰, 杨进. 异构延迟容忍移动传感器网络中基于 转发概率的数据传输. 软件学报, 2013, 24(2): 215) [15] Yasmine鄄Derdour, Bouabdellah鄄Kechar, Fay觭al鄄Khelfi M. Using mobile data collectors to enhance energy efficiency and reliability in delay tolerant wireless sensor networks. J Inf Procession Syst, 2016,12(2): 275 [16] Doshi S, Bhandare S, Brown T. An on鄄demand minimum energy routing protocol for a wireless ad hoc network. Mobile Computing Commun Rev, 2002, 6(3): 50 [17] Sommer C, Dietrich I, Dressler F. Simulation of ad hoc routing protocols using OMNeT + + . Mobile Networks Appl, 2010, 15 (6): 786 ·1421·