Reactive-Greedy-Reactive in Unmanned Aeronautical Ad-hoc Networks

138 Pages·2011·0.93 MB·English

Reactive-Greedy-Reactive in Unmanned
Aeronautical Ad-hoc Networks: A Combinational
Routing Mechanism
by
Rostam Shirani, M.A.Sc.
A thesis submitted to the
Faculty of Graduate and Postdoctoral Affairs
in partial fulfillment of the requirements for the degree of
Master of Applied Science in Electrical and Computer Engineering
Ottawa-Carleton Institute for Electrical and Computer Engineering
Department of Systems and Computer Engineering
Carleton University
Ottawa, Ontario
August 2011
(cid:13)c Copyright
Rostam Shirani, 2011
The undersigned hereby recommends to the
Faculty of Graduate and Postdoctoral Affairs
acceptance of the thesis
Reactive-Greedy-Reactive in Unmanned Aeronautical
Ad-hoc Networks: A Combinational Routing Mechanism
submitted by Rostam Shirani, M.A.Sc.
in partial fulfillment of the requirements for the degree of
Master of Applied Science in Electrical and Computer Engineering
Professor Thomas Kunz, Thesis Co-supervisor
Professor Marc St-Hilaire, Thesis Co-supervisor
Professor Howard Schwartz, Chair,
Department of Systems and Computer Engineering
Ottawa-Carleton Institute for Electrical and Computer Engineering
Department of Systems and Computer Engineering
Carleton University
August, 2011
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Abstract
BasedontherapidgrowthintheapplicationsofUnmannedAerialVehicles(UAVs)in
thelastdecade,theideaofin-flightcommunicationamongUAVshasbeenproposedin
cooperative missions. Since medium and small sized UAVs are cheap and deployable,
several of them can be used to form what we call an Unmanned Aeronautical Ad-hoc
Networks (UAANETs).
Due to the availability of location information, geographic protocols can be an
option for routing in UAANETs. Although we show that greedy geographic forward-
ing alone is not sufficient in UAANETs, our results illustrate that a combination
of greedy geographic forwarding with a reactive mechanism, which forms a Reactive-
Greedy-Reactive(RGR)routing, canbebeneficial. SimulationresultsshowthatRGR
outperforms existing protocols such as Ad-hoc On-demand Distance Vector (AODV),
and greedy geographic forwarding in searching missions in terms of delay and packet
delivery ratio while its overhead is comparable with traditional mechanisms.
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In memory of Hajieh Khanom Jahan Shiran
To my parents, Manijeh and Mahmoud, and my sister Roya
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Acknowledgments
I would like to express my deep and sincere gratitude to my supervisors Professors
Thomas Kunz and Marc St-Hilaire for the end-less support, understanding, kindness,
and great guidance. During my studies at Carleton University, they not only helped
me in my research but also they taught me in my life.
I also would like to acknowledge researchers in Mobile Ad-hoc and Sensor Net-
work Systems group in Communication Research Center (CRC) Canada, especially
Dr. Yifeng Zhou, Dr. Jun Li, and Mrs. Louise Lamont not only for funding the
project but for supporting me as a visiting researcher in CRC during the past year.
Last but not least, I would like to thank my family, my parents and my sister,
who are my reasons in life.
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Table of Contents
Abstract iii
Acknowledgments v
Table of Contents vi
List of Tables x
List of Figures xi
List of Acronyms xv
1 Introduction 1
1.1 Research Objective . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.2 Thesis Contributions . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.3 Organization of the Thesis . . . . . . . . . . . . . . . . . . . . . . . . 3
2 Related Work on UAANET 5
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2 Unmanned Aeronautical Ad-hoc Networks . . . . . . . . . . . . . . . 6
2.2.1 UAV Operations . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.2.2 Applications of UAANETs . . . . . . . . . . . . . . . . . . . . 7
2.2.3 Differences between UAANETs and AANETs . . . . . . . . . 8
2.3 Cooperation, Control and Path Planning . . . . . . . . . . . . . . . . 8
2.4 Networking Characteristics of UAANETs . . . . . . . . . . . . . . . . 11
2.4.1 Rapid Topology Change . . . . . . . . . . . . . . . . . . . . . 11
2.4.2 Application-based Mobility . . . . . . . . . . . . . . . . . . . . 12
2.4.3 Medium Access Control Requirements . . . . . . . . . . . . . 12
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2.5 Reactive Routing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.6 Geographic Routing . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.6.1 Location Service Module . . . . . . . . . . . . . . . . . . . . . 15
2.6.2 Location Prediction in Geographic Routing . . . . . . . . . . . 16
2.7 Towards a Routing Protocol for UAANETs . . . . . . . . . . . . . . . 17
2.7.1 Greedy Geographic Core in Data Forwarding . . . . . . . . . . 18
2.7.2 Reactive-Greedy Combination . . . . . . . . . . . . . . . . . . 18
2.8 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3 Greedy Geographic Forwarding in UAANETs 20
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.2 Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.3 Simulation Environment . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.4 Simulation Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.5 Observations From Simulation Results . . . . . . . . . . . . . . . . . 27
3.6 Quadratic Estimation of Success Probability . . . . . . . . . . . . . . 28
3.7 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
4 Reactive-Greedy-Reactive Routing for UAANETs 34
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.2 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
4.2.1 Blind Broadcasting . . . . . . . . . . . . . . . . . . . . . . . . 36
4.2.2 Geographic Reverse-route Forwarding . . . . . . . . . . . . . . 36
4.2.3 Reactive Reverse-route Forwarding . . . . . . . . . . . . . . . 37
4.2.4 Proactive Reverse-route Forwarding . . . . . . . . . . . . . . . 37
4.2.5 Discussion on the Proposals . . . . . . . . . . . . . . . . . . . 37
4.3 Implementation of RGR in a Network Simulator . . . . . . . . . . . . 38
4.3.1 Overview of AODV in OPNET . . . . . . . . . . . . . . . . . 39
4.3.2 RGR Implementation Overview . . . . . . . . . . . . . . . . . 40
4.4 RGR Functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
4.4.1 Elements of RGR Mechanism . . . . . . . . . . . . . . . . . . 41
4.4.2 Node Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
4.4.3 Reactive Route . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4.4.4 Packet Forwarding in an Intermediate Node . . . . . . . . . . 45
4.4.5 Route Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
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4.4.6 Switching to Greedy Geographic Forwarding . . . . . . . . . . 47
4.4.7 Handling a Received Packet via Greedy Geographic Forwarding 47
4.4.8 Dropping a Packet in the Greedy Geographic Function . . . . 48
4.4.9 Global Repair by the Source . . . . . . . . . . . . . . . . . . . 49
4.4.10 Destination Operations . . . . . . . . . . . . . . . . . . . . . . 49
4.5 RGR versus Reactive and Geographic Routing . . . . . . . . . . . . . 51
4.6 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
5 Simulation Results 55
5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
5.1.1 Packet Delivery Ratio . . . . . . . . . . . . . . . . . . . . . . 56
5.1.2 Delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
5.1.3 Overhead . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
5.2 Mobility Modelling . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
5.2.1 Mobility Parameters for Searching Mission . . . . . . . . . . . 59
5.2.2 Mobility Parameter for Tracking Mission . . . . . . . . . . . . 60
5.3 MAC/PHY Specifications . . . . . . . . . . . . . . . . . . . . . . . . 62
5.4 Network Traffic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
5.5 Routing Protocol Setting . . . . . . . . . . . . . . . . . . . . . . . . . 64
5.6 Simulation Results for a Searching Mission . . . . . . . . . . . . . . . 65
5.6.1 Small Network with 10 UAVs . . . . . . . . . . . . . . . . . . 66
5.6.2 Large Network with 20 UAVs . . . . . . . . . . . . . . . . . . 73
5.7 Simulation Results for a Tracking Mission . . . . . . . . . . . . . . . 82
5.8 Number of Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
5.9 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
6 Conclusions and Future Work 91
6.1 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
6.2 Future Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
List of References 95
Appendix A OPNET Implementation 102
A.1 Adding Location Information in Header Files . . . . . . . . . . . . . . 102
A.2 Switching to Greedy Geographic Forwarding . . . . . . . . . . . . . . 103
A.3 Lifetime . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
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A.4 Create Functions and Arrival Functions in RGR . . . . . . . . . . . . 104
A.5 Statistics of the Number of Switches . . . . . . . . . . . . . . . . . . 105
Appendix B 10 Searching UAVs in a 25 km2 Area 107
Appendix C Searching Mission with 30 Nodes 113
Appendix D Tracking Mission with 20 Nodes 118
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List of Tables
4.1 Comparison of RGR with reactive/geographic routing mechanisms . . 54
5.1 Mobility parameters of a searching scenario . . . . . . . . . . . . . . . 60
5.2 Mobility parameters of a tracking scenario . . . . . . . . . . . . . . . 61
5.3 MAC layer specifications . . . . . . . . . . . . . . . . . . . . . . . . . 62
5.4 Traffic parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
5.5 AODV/RGR configurations . . . . . . . . . . . . . . . . . . . . . . . 65
5.6 Greedy geographic forwarding configurations . . . . . . . . . . . . . . 65
5.7 Averagenumberofswitchespersource-destinationflowinsearchmissions 88
5.8 Average number of switches per source-destination flow in tracking
missions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
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