面向机器人集群控制的轻量级Mesh广播算法研究OA

With the deep integration of the Internet of things(IoT)and robotics,constructing an efficient and reliable com-munication network has become a critical foundation for supporting collaborative operations of robots.Addressing the de-mands of low latency,high reliability,and lightweight design for communication networks in the dynamic and complex en-vironments of robot systems,a broadcast optimization algorithm based on neighbor information speculation was proposed,named speculative reception-based broadcasting(SRB).By introducing neighbor management and a speculative reception mechanism,issues inherent in traditional Flooding algorithms,such as"broadcast storms",redundant forwarding,and ex-cessive energy consumption,were effectively mitigated by the SRB algorithm.Periodically exchanged neighbor informa-tion among nodes was leveraged to infer whether their neighbors had already received the current data packet,thereby mak-ing intelligent forwarding decisions to avoid unnecessary retransmissions.The performance of the proposed algorithm was evaluated through simulations and a prototype system of robots.Experimental results demonstrate that SRB outperforms traditional Flooding algorithms in key metrics,including packet delivery ratio,end-to-end latency,and forwarding rate.