Dynamic routing algorithms for mobile robot systems

Ad-hoc networks are a class of wireless networks drawing the attention of academic world, industry and governments. Ad-hoc networks are multi hop, infrastructure-less and spontaneous wireless networks which mostly consist of mobile nodes. Nodes in ad-hoc networks both act as a router and communicate with other nodes. The robots making rescue operation in a large area of disaster are not always directly connected with central operator. In such large areas robots can move around without losing communication with each other only by passing messages from one to another up to the central operator. Routing methods determine from which node to which node the messages are conveyed. In this work blind flooding and table-based routing methods are tested for three different scenarios to measure their effectiveness using the simulation environment USARSIM and its wireless simulation server WSS. Message delay times and maximum data packet streaming rates are considered for measuring the effectiveness. Although it has some deficiencies, it was observed that table-based approach is more advantageous than blind flooding.