基于Q-learning分布式训练的无人机自组织网络AODV路由协议
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中图分类号：TN915-34 文献标识码：A 文章编号：1004-373X（2025）15-0103-07
Distributed trained Q-learning based AODVroutingprotocol for flyingadhocnetwork
SUN Chen，WANG Yukun，WAN Jiamei，HOU Liang （School of Software，NanchangHangkongUniversity，Nanchang33oo63，China）
Abstract：Becauseof the highly dynamic natureandsparse topologyofflyingad hoc network （FANET） nodes，theexisting Q-learning-based routing protocol exposes the limitations that the Q valueupdate is delayed and it is difficult to adapt to the rapidchangeof network topologyquickly.Inviewof this，adistributedtrainedQ-learning basedAODV（adhocon-demand distancevector）（bbreviatedasDQL-AODVrouting protocolisproposed.Inthisprotocol，eachnodeisregardedasanagent， and the next hop of the packets tobe forwarded isselected according to the Q valueofdistributed training. The Q value ofeach nodeisupdatedlocallyandgloball.Firstly，thelocalrewardValueiscalculatedaccordingtothelifetimeofthelinkbetween nodesandtheloadcapacityofthenodes.Each timetheHello messageisreceived，themore stablenexthoplink isupdated toa higher Q value.Secondly，when the routing request message reaches the node （the object），a global Q valueupdateisperformed， andtheglobalrewardvalueiscalculatedacording tothenumberofforwarding hopsandtheaverageend-to-enddelayof the packet.Finally，theQ-learningalgoritmisusedtooptimizetheHellmessagesendingmechanism，whichalancesthenetwork topologyawareness degreeandrouting overheadefectively.Simulationresultsshowthat，incomparison withtheQL-AODV，the averageend-to-nddelaydatathroughput，packetarrvalrateandroutingcostoftheproposedmethodareoptimizedby19.93 % 15.48% ！ 6.24% and 11.76% ，respectively.In addition，the proposed method has stronger convergence capability.To sum up，the effectiveness of the protocol has been verified.
Keywords：FANET;AODVrouting protocol; Q-learning distributed training; link quality; Hell message; routing decisi
0 引言
无人机集群技术已广泛应用于农业植保喷洒、森林火灾防控等受复杂地形与交通条件制约的场景[1-2]，执行此类任务高度依赖于无人机自组织网络（FlyingAd-HocNetwork，FANET）以确保在高度机动性及节点分布稀疏环境下通信的稳定性和可靠性。（剩余10169字）