Wireless Communication Networks Supported by Autonomous UAVs and Mobile Ground Robots by unknow

Author:unknow
Language: eng
Format: epub
Publisher: Elsevier Science & Technology
Published: 2022-01-03T00:00:00+00:00

Algorithm 2 CM-CH attachment.

Figure 5.4 The operations of CH and CMs in CM-CH attachment.

For intracluster data collection, the TDMA schedule is used. The CH sets up a TDMA schedule based on the number of its CMs and transmits it back to its CMs. After the TDMA schedule is known by all CMs in the cluster, the CM-CH attachment phase is completed.

5.3.2.3 CH-CH association

The next phase of the protocol is CH-CH association. The objective of CH-CH association is to find a route for each CH such that it can transmit its data to the MS. Each CH broadcasts CH-CH-Offer-Msg containing its residual energy, the number of CMs attached to it (henceforth called CM size), its ID, and the number of hops l within a range of ( is a parameter to adjust the transmission range). The CH with a higher hop number, e.g., , and hearing such message selects the one with the largest η () and replies a CH-CH-Confirm-Msg to the sender. The consideration behind this is that since the nodes are nonuniformly deployed, the same CM sizes of two CHs cannot be guaranteed. Thus, the CH having a small CM size is able to perform more data relaying tasks. Note that the CH having a lower hop number, e.g., , may also hear the CH-CH-Offer-Msg from the senders with hop number l, but it will simply ignore the message. The CH-CH association algorithm is shown as Algorithm 3. Note that the CHs with hop number 1 do not accept CH-CH-Offer-Msg as those with hop number l, , so Steps 3–13 of Algorithm 3 are skipped.

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