Research And Simulation Of The UAV Group Ad-Hoc Network Routing Protocol Based On ROS-OMNeT++

In recent years,in order to meet the needs of increasingly complex scenarios,using a UAV swarm to complete various complex tasks has become a trend in the field of UAVs.The research on related technologies of UAV swarms has also become a research hotspot in the field of UAVs.Formation control is the key to successfully complete various missions for the UAV swarm.Aiming at the formation and maintenance of the UAV swarm and the communication between the ad-hoc network of the formation in the current research,this thesis studies the formation control technology of the UAV swarm and the routing protocol of the ad-hoc network.The main contents and results of the thesis are as follows:First,the distributed formation control algorithm based on reference control consistency,which is at the forefront of technology in the current UAV formation control field,is selected,and the implementation and simulation of the algorithm are completed on the simulation platform.The algorithm transforms the movement of the UAV swarm formation into the motion control of the reference coordinate system and performs closed-loop control of the translation and rotation of the reference coordinate system,which solves the problem that the UAV formation is unmanned under the condition that its own flight performance is limited.The formation maintenance problem of the aircraft formation.In the realization of the algorithm,the design of the UAV module,the reference consistency module,the maximum distance consistency module and the reference controller module are realized based on the simulation platform,and several tool functions are written and encapsulated for the simulation.Then,based on the ROS system,the UAV launch file and UAV control file were written to realize the simulation of the algorithm.In terms of simulation verification,this thesis firstly verifies the feasibility of the algorithm through Simulink simulation,and then simulates and observes the UAV formation flight and formation transformation process in three-dimensional space through the UAV simulation data package Rotors of the ROS system and the three-dimensional simulation software Gazebo.The simulation results show that the algorithm effectively solves the formation maintenance problem of the UAV formation under the condition that its own flight performance is limited.Secondly,based on the OMNeT++platform design simulation experiments,the performance differences of DSDV,OLSR and AODV routing protocols in different UAV networking scenarios are compared.From the perspective of simulation experiments,the possibility of AODV routing protocol as a UAV ad-hoc network routing protocol is verified.Then,on the basis of the original AODV routing protocol,combined with the problems of link instability,high node energy consumption and low routing maintenance efficiency that still exist in the current improved AODV routing protocol,an improved routing protocol SAODV is implemented based on the OMNeT++ platform.By writing link cost function,route processing function,neighbor class and other codes,the improved routing protocol is optimized in route selection and route maintenance.Finally,the performance differences between SAODV routing protocol and AODV routing protocol are simulated and compared from four aspects:packet loss rate,average residual energy of nodes,average end-to-end delay and routing initiation frequency.The simulation results show that the performance of the improved SAODV routing protocol is better than that of the AODV routing protocol.At the same time,the established routing link is more stable,the node energy consumption is lower,the route repair speed is faster,and it is more suitable for UAV self-organizing networks.