CN110636582A - Underwater sensor network node communication path selection method based on ant colony algorithm - Google Patents

Underwater sensor network node communication path selection method based on ant colony algorithm Download PDF

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CN110636582A
CN110636582A CN201910925957.XA CN201910925957A CN110636582A CN 110636582 A CN110636582 A CN 110636582A CN 201910925957 A CN201910925957 A CN 201910925957A CN 110636582 A CN110636582 A CN 110636582A
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path
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pheromone
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苏毅珊
张麟
付晓梅
金志刚
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Tianjin University
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
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    • G06N3/006—Artificial life, i.e. computing arrangements simulating life based on simulated virtual individual or collective life forms, e.g. social simulations or particle swarm optimisation [PSO]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
    • H04W40/04—Communication route or path selection, e.g. power-based or shortest path routing based on wireless node resources
    • H04W40/10—Communication route or path selection, e.g. power-based or shortest path routing based on wireless node resources based on available power or energy
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
    • H04W40/20—Communication route or path selection, e.g. power-based or shortest path routing based on geographic position or location
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/24—Connectivity information management, e.g. connectivity discovery or connectivity update
    • H04W40/248—Connectivity information update

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Abstract

The invention relates to a node communication path selection method in an underwater sensor network based on an ant colony algorithm, which comprises the following steps: (1) a network initialization process; (2) and (3) random routing process: after the path establishing process is completed, an pheromone table is established at each node in the network, each item in the table corresponds to a path to a destination node in an pheromone list of the node, and different items correspond to different next hop forwarding nodes; when a forwarding node is selected, the node firstly calculates the probability of the node being selected according to the proportion of the pheromone values corresponding to the nodes in the pheromone table to the whole, namely the probability of the node being selected as the forwarding node, and the probability of the node being selected as the forwarding node is higher when the pheromone value is larger; (3) and (5) a pheromone updating process.

Description

Underwater sensor network node communication path selection method based on ant colony algorithm
Technical Field
The invention relates to a method for selecting a communication path of a network node of an underwater sensor.
Background
In recent years, more and more researchers have started to focus on underwater sensor networks, since the earth in which we live has more than 70% of water which contains abundant mineral, gas and metal resources. However, unlike the land sensor network, the development of the underwater sensor network has many difficulties due to the complicated environment under water. Firstly, information can be transmitted only by using acoustic signals underwater, so that the time delay of underwater communication is very large; second, in an underwater environment, each node is powered by a battery, and thus the energy in the underwater sensor network is very limited. In addition, the underwater channel also has the characteristics of high dynamics, high attenuation, high error rate, multipath effect and low bandwidth, the existing terrestrial wireless sensor network protocol cannot be directly applied underwater, and a new protocol adapting to the characteristics of an underwater network must be researched.
In recent years, related researchers have proposed many routing protocols for underwater features, which can be classified into a routing protocol based on geographical location information, a routing protocol based on node depth, and a routing protocol not requiring geographical location information according to whether geographical location information is required during path calculation. The routing protocol based on the three-dimensional position information can quickly calculate the shortest path for the nodes, but has higher requirements on the cost of the sensor nodes. Routing protocols which do not require geographical location information are applicable to all network scenarios, but the connection situation of nodes in the network needs to be known through network initialization, and the process consumes energy but does not transmit data, thereby shortening the service life of the network. In contrast, the routing protocol based on depth not only reduces the requirement on network nodes, but also simplifies the network initialization process, and is a more ideal scheme.
The process of calculating the path by the routing algorithm is very similar to the foraging behavior of natural insects, and a plurality of intelligent optimization algorithms inspired by the nature are proposed one after another, so that a new thought is provided for the routing algorithm. The invention introduces the ant colony algorithm into the underwater route calculation process, gives new physical significance to pheromones (secreted substances in the foraging process of the ant colony), adds the depth of nodes and the condition of residual energy during calculation, and makes the algorithm more suitable for the underwater environment. The core idea of the algorithm is that the target node in the network is assumed to be food (usually located on the water surface), the source node is assumed to be an ant, and each node of the data packet arrives to select the next hop forwarding node according to the pheromone value until the target node is reached. The pheromone value at the node is continuously updated in the communication process, so that the node can fully consider the position information of the current node and the condition of residual energy when carrying out routing decision, the energy consumption of each node in the network is more uniform, and the service life of the network is effectively prolonged under the condition of not sacrificing end-to-end delay.
Disclosure of Invention
The invention provides a path selection method suitable for an underwater sensor network by combining the thought of an ant colony algorithm, which can effectively solve the problem of short network service life caused by uneven node energy distribution in the underwater sensor network.
A node communication path selection method in an underwater sensor network based on an ant colony algorithm is characterized by comprising the following steps:
1. network initialization procedure
(1) After the sensor network is laid under water, a destination node d is placed on the water surface, and other nodes are uniformly distributed in the whole sea area and are source nodes. When a source node s in the network tries to communicate with a destination node d for the first time, no pheromone list is established at the source node, and therefore, the source node broadcasts a 'forward ant'A path establishment procedure is started.The information of the depth and the residual energy of the nodes are contained, and the information can be used as the screening condition of the data packet to accelerate the realization of the path establishment process.
(2) Receive fromThe neighbor node firstly compares the depth of the previous hop node stored in the data packet with the depth information of the local node, and marks the local node if the local node is closer to the water surface (namely closer to the destination node)The number is written to the packet and the next forwarding is continued. Meanwhile, ants are established for further screening different paths with the same source and destination nodes. The forwarding times of the data packets in the network can be reduced through deep screening, so that the overall energy consumption of the network is saved.
(3) When the first path establishing ant reaches the destination node, the destination node calculates the pheromone value corresponding to the path, converts the forward ant into the return ant, unicast the return ant to the source node hop by hop according to the sequence opposite to the sequence of the return ant to the destination node, and establishes the pheromone table for the nodes on the path when the nodes pass through the path.
2. Random routing procedure
After the path establishing process is completed, an pheromone table is established at each node in the network, each item in the table corresponds to a path to a destination node in the pheromone list of the node, and different items correspond to different next hop forwarding nodes. When selecting a forwarding node, the node firstly calculates the probability P of the node being selected according to the proportion of the pheromone value corresponding to each node in the pheromone table to the wholendThis is the probability that the node is selected as a forwarding node, and the probability that a node with a larger pheromone value is selected as a forwarding node is larger.
3. Pheromone update process
The pheromone table will be updated in two cases: automatic update and network synchronous update are transmitted along with data packets. Because the node consumes energy when forwarding the data packet once, the automatic updating process enables the pheromone of the forwarding node to be fixedly reduced by gamma every time, and the purposes of balancing network energy and prolonging network service life are achieved. However, only this updating method cannot guarantee the accuracy of the pheromone table of the node for a long time, so that network synchronization updating pheromones is equivalent to calibrating the current pheromone table of each node in the network. On the whole, the pheromone is updated mainly in an automatic updating mode, and a network synchronous updating process is assisted, so that the selection of the forwarding node is more accurate and reasonable.
The invention may also include a path repair process:
in the routing process, the path repair process needs to be entered in both cases. First, a situation in which communication is interrupted in the network due to underwater noise or water flow; secondly, because a deep screening mechanism is adopted in the path establishment process, the established path can only communicate from deep to shallow, but some special nodes may exist in the network, and no shallower neighboring nodes exist around the special nodes, and for the nodes, the nodes also need to be connected with the network through a path repair process. The path repair process is similar to the path establishment process, but this process allows the first hop of a node to be passed to deeper nodes to repair the path.
Detailed Description
The present invention will be described in detail below.
1. Network initialization procedure
(1) When a source node s in the network tries to communicate with a destination node d for the first time, no routing information is available at the source node, and the source node broadcasts a forward ant "A path establishment procedure is started.Essentially, a data packet containing path establishment data, where s is the source node label and d is the destination node label.
Data packetThe format is as follows:
TABLE 1
The Type is a data packet Type and indicates that the data packet is a forward ant for path establishment; recording the label of the source node by using the Src _ ID; seq is a sequence number generated by the source node when the data packet starts from the source node, and is used for preventing adjacent nodes from repeatedly processing the same data packet; the visual is an array, and records all node labels for forwarding the data packet before the data packet reaches a destination node; e _ res is also an array and records the residual energy information of all forwarding nodes on the path; depth information of a skip sending node on the data packet is recorded by the Depth; time is a timer that records the Time from the source node; TTL specifies the time period for packet survival, mainly to prevent packets from being duplicated indefinitely in the network to increase network load when damaged paths are repaired.
(2) Receive fromThe adjacent node firstly compares the depth of the previous hop node stored in the data packet with the depth information of the local node, and if the local node is deeper than the previous hop node, the node does not process the data packet; if the node is closer to the surface (i.e., closer to the destination node), the next forwarding calculation is continued. In this way, the energy consumption of the network can be saved by reducing the overall amount of computation in the network.
"forward ants"In the process of transmitting in the network, if a certain node receives two data packets with the same source node and different serial numbers in sequence (if the two data packets with the same source node and serial numbers are received, the node does not process repeated data packets), then an acceptance factor lambda epsilon (1,2) is introduced, it is assumed that a data packet arriving first passes through M hops and a data packet arriving later passes through N hops, if N is less than or equal to lambda.M, the node receives the two data packets at the same time, otherwise, the node rejects the data packet arriving later. That is, the hop count of the data packet which is allowed to arrive later is at most twice as large as the transmission hop count of the data packet which is arrived earlier, so that the network overhead can be reduced by discarding the path which has too many transmission hops and longer propagation delay and only the path which has faster transmission speed and less hop count is reserved, and the network robustness is increased.
(3) When the first path establishing ant reaches the destination node, the ant is converted into the 'return ant' immediately, and the destination node calculates the end-to-end delay T of the first antdAt the same timeCalculating the waiting time
Tw＝α·Td
Where alpha is a preset parameter exceeding the waiting time TwLater arriving packets will not be processed by the destination node due to too long delay. The 'return ant' returns to the source node s according to the sequence stored in the P, and in the transmission process of the return path, the pheromone values of the adjacent nodes in the pheromone table of the node i on the path are updatedThe calculation formula is as follows:
wherein E is the residual energy of the node with the least residual energy among all nodes on the path, H is the hop count of the path from s to d, τ is the end-to-end delay of the path, and SINR is the signal-to-noise ratio on the path:
Ebmeasuring the power of received data packets, N, for the destination node0Is the underwater acoustic channel noise power.
The return ant packet format is as follows:
TABLE 2
Wherein Type indicates that the Type of the data packet is a return ant; the to _ visit is an array, wherein node labels in a reverse order to the path establishing ants are stored, the data packet returns to the source node according to the original path, and the pheromone list of the nodes on the path is updated; the Pheromone is the Pheromone value corresponding to the path calculated by the destination node; the Time timer records the Time at which a packet is delivered in the network.
Each node i has a pheromone table TiEach of whichFor the pheromone value of the path from the current node i to the destination node d through the adjacent node n, the format of the pheromone table at the node i is as follows:
TABLE 3
2. Random routing procedure
Through the path establishing process, a plurality of paths from a source node to a destination node are established in the network, when a data packet is sent, the nodes randomly select adjacent nodes in the established paths to forward data, when a certain node has a plurality of selectable next-hop nodes for a destination node d of the data packet, the probability of each selectable node being selected is Pnd，
WhereinAll selectable neighbor node sets from i to d; beta is a constant, and the larger beta is, the higher the probability that the adjacent node with the large pheromone value is selected as the next hop node is.
The strategy enables the network to automatically tend to load balance, each path has the possibility of participating in routing under the condition that the residual energy of all adjacent nodes is not large, however, when one path has the problems of low energy and the like, the probability of selecting the path is obviously reduced, the possibility of using other nodes with more sufficient residual energy as forwarding nodes is increased, and therefore the service life of the network can be effectively prolonged.
3. Pheromone update process
During the routing process, the two updating modes of the pheromone are alternatively carried out.
(1) Delivering updates with packets
The first mode is performed simultaneously with data transmission, during which the pheromone concentration of all nodes on a path decreases by γ, i.e. every time a data packet is transmitted on the path
The pheromone change mechanism is specific to an underwater sensor network environment, and because the energy stored by sensor nodes under water is limited, if the nodes are used once and the pheromone is accumulated once, the probability that the same node used as a forwarding node at the previous time is selected as the forwarding node later becomes greater and greater along with energy reduction, and finally the energy of the node is exhausted rapidly, which obviously does not contribute to prolonging the service life of the network. Therefore, the invention reduces the corresponding pheromone when the node is used once, thereby effectively prolonging the service life of the network as a whole.
(2) Network synchronous update
The second updating mode is that the source node sends a path updating ant after sending n data packets, and the ant calculates the probability P according to the random routendThe adjacent node is selected as the next hop node, the process is unicast under the general condition, the path updating ant is the same as the path establishing ant, the path updating ant is converted into the return ant to return to the source node according to the original path after being transmitted to the destination node from the source node, and the pheromone values of all the nodes on the path are updated. Because the pheromone has an automatic updating mechanism in the data transmission process, the updating process of the path updating ants is equivalent to the pheromone calibration of the nodes in the network at regular intervals, and the calibration period n can be relatively prolonged to reduce the network overhead.
4. Path repair process
If the path updating ant can not find the pheromone pointing to the destination node at a certain node, the data packet is changed into a broadcast form at the node to repair the communication path, the communication process of the broadcast data packet is the same as the ant in the path establishment process, and the transmission process of the data packet in the network is also equivalent to the path reestablishment process. In order to prevent the broadcast data packet from rapidly proliferating in the network to increase the network load, the broadcast data packet is limited to be forwarded only by 2 hops in the network, namely, the "TTL" field in the path establishment ant data packet is 2, and the TTL is subtracted by 1 every time the data packet is forwarded until the TTL is 0, so that the data packet fails in the network. Because the communication paths of the underwater network are concentrated below 5 hops, the node faults occur randomly, and the probability that 2 or even 3 continuous adjacent nodes on the same path fail at the same time is very low, we consider that the effect of repairing the fault paths can be achieved by broadcasting 2 hops in the network by a link repairing data packet.

Claims (2)

1. A node communication path selection method in an underwater sensor network based on an ant colony algorithm is characterized by comprising the following steps:
(1) network initialization procedure
1) After the sensor network is laid under water, a destination node d is placed on the water surface, and other nodes are uniformly distributed in the whole sea area and are source nodes; when a certain source node s in the network tries to communicate with a destination node d for the first time, no pheromone list is established at the source node, and the source node broadcasts a 'forward ant'Starting a path establishment process;the method comprises the depth information and the residual energy information of nodes, and the depth information and the residual energy information are used as the screening conditions of a data packet to accelerate the realization of the path establishment process;
2) receive fromThe adjacent node firstly compares the depth information of the previous hop node and the local node stored in the data packet, and if the local node is closer to the water surface, namely, the local node is closer to the destination node, the node label is written into the data packet and continues to be forwarded in the next step; meanwhile, ants are established for different paths with the same source and destination nodes for further screening(ii) a Reducing the forwarding times of data packets in the network through a deep screening mechanism;
3) when a first path establishing ant reaches a destination node, the destination node calculates an pheromone value corresponding to the path, converts a forward ant into a return ant, unicast the return ant to a source node hop by hop according to a sequence opposite to the sequence of the return ant to the destination node, and establishes an pheromone table for the node on the path when the node passes through the path;
(2) random routing procedure
After the path establishing process is completed, an pheromone table is established at each node in the network, each item in the table corresponds to a path to a destination node in an pheromone list of the node, and different items correspond to different next hop forwarding nodes; when selecting a forwarding node, the node firstly calculates the probability P of the node being selected according to the proportion of the pheromone value corresponding to each node in the pheromone table to the wholendThat is, the probability that the node is selected as a forwarding node, and the probability that a node with a larger pheromone value is selected as a forwarding node is larger;
(3) pheromone update process
The pheromone table will be updated in two cases: automatic updating and network synchronous updating are carried out along with the transmission of the data packet; in the automatic updating process, the pheromone of the forwarding node is fixedly reduced by gamma every time, so that the aims of balancing network energy and prolonging the service life of the network are fulfilled; the synchronous updating of the pheromone by the network is equivalent to the calibration of the current pheromone table of each node in the network; the updating of the pheromone is mainly in an automatic updating mode, and the network synchronous updating process is assisted.
2. The method of claim 1, further comprising a path repair process: in the routing process, the path repair process needs to be entered in two cases: first, a situation in which communication is interrupted in the network due to underwater noise or water flow; secondly, because a deep screening mechanism is adopted in the path establishing process, the established path can only communicate from deep to shallow, and for some special nodes possibly existing in the network and no shallower adjacent nodes around the special nodes, the established path can be connected with the network through the path repairing process; the path repair process is similar to the path establishment process, but this process allows the first hop of a node to be passed to deeper nodes to repair the path.
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Application publication date: 20191231