How to Begin Implement A Networked Robotics In NS3

To create an execution for Networked Robotics replicates the ns3 tool includes the replicate a communication among robots, sensors, and control systems over a network. The concentrate is the enable methods seamless organization and real-time data modification that is vital for robotics applications.

Here’s how to get started:

Steps to Begin Implement A Networked Robotics In NS3

1. Understand Networked Robotics Requirements

• Typical Applications:
  • Combined the robots such as cobots.
  • Remote-controlled robots.
  • Autonomous drones communicating by a central hub.
• Key Features:
  • Mobility and dynamic topology.
  • Low latency and high reliability.
  • Centralized or decentralized control.
  • Wireless communication among robots.

2. Set Up ns-3 Environment

1. Install ns-3:

git clone https://gitlab.com/nsnam/ns-3-dev.git

cd ns-3-dev

./build.py

1. Verify the installation:

./ns3 run hello-simulator

3. Plan Your Networked Robotics Architecture

• Nodes:
  • Robots: Signified the mobile nodes.
  • Central controller: Designed for centralized communication.
  • Sensors: IoT nodes are communicating the data for robots.
• Technologies:
  • For communicate the Wi-Fi or LTE.
  • Intended for battery-powered robots for Energy-aware models.
• Example Components:
  • Robots → Central Controller.
  • Robots ↔ Robots (peer-to-peer communication).

4. Select Relevant ns-3 Modules

• Wi-Fi Module: Aimed at robot-to-robot and robot-to-controller for the communication.
• LTE/5G Modules: Intended for high-speed and low-latency for connections.
• Mobility Models: Designed for the replicate a robot action.
• Energy Module: Used for power usage and energy constraints.

5. Write the Simulation Script
6. Include Necessary Headers

#include “ns3/core-module.h”

#include “ns3/network-module.h”

#include “ns3/internet-module.h”

#include “ns3/wifi-module.h”

#include “ns3/mobility-module.h”

#include “ns3/energy-module.h”

#include “ns3/applications-module.h”

1. Define Nodes

ns3::NodeContainer robotNodes, controllerNode;

robotNodes.Create(5);         // Five robots

controllerNode.Create(1);     // Central controller

1. Set Up Communication Technology

Wi-Fi for Robots

ns3::WifiHelper wifi;

wifi.SetStandard(ns3::WIFI_PHY_STANDARD_80211n);

ns3::WifiMacHelper mac;

ns3::WifiPhyHelper phy = ns3::WifiPhyHelper::Default();

phy.SetChannel(ns3::YansWifiChannelHelper::Default().Create());

mac.SetType(“ns3::AdhocWifiMac”);

ns3::NetDeviceContainer robotDevices = wifi.Install(phy, mac, robotNodes);

Wi-Fi for Controller

ns3::NetDeviceContainer controllerDevices = wifi.Install(phy, mac, controllerNode);

1. Install Internet Stack

ns3::InternetStackHelper internet;

internet.Install(robotNodes);

internet.Install(controllerNode);

ns3::Ipv4AddressHelper address;

address.SetBase(“10.1.1.0”, “255.255.255.0”);

ns3::Ipv4InterfaceContainer robotInterfaces = address.Assign(robotDevices);

ns3::Ipv4InterfaceContainer controllerInterfaces = address.Assign(controllerDevices);

1. Add Mobility Models

ns3::MobilityHelper mobility;

// Robots: moving

mobility.SetMobilityModel(“ns3::ConstantVelocityMobilityModel”);

mobility.Install(robotNodes);

for (uint32_t i = 0; i < robotNodes.GetN(); ++i) {

robotNodes.Get(i)->GetObject<ns3::ConstantVelocityMobilityModel>()->SetVelocity(ns3::Vector(10, 0, 0));

}

// Controller: stationary

mobility.SetMobilityModel(“ns3::ConstantPositionMobilityModel”);

mobility.Install(controllerNode);

1. Install Applications

Communication Between Robots and Controller

// Controller: Echo Server

ns3::UdpEchoServerHelper echoServer(9);

ns3::ApplicationContainer serverApps = echoServer.Install(controllerNode.Get(0));

serverApps.Start(ns3::Seconds(1.0));

serverApps.Stop(ns3::Seconds(20.0));

// Robots: Echo Client

for (uint32_t i = 0; i < robotNodes.GetN(); ++i) {

ns3::UdpEchoClientHelper echoClient(controllerInterfaces.GetAddress(0), 9);

echoClient.SetAttribute(“MaxPackets”, ns3::UintegerValue(10));

echoClient.SetAttribute(“Interval”, ns3::TimeValue(ns3::Seconds(2.0)));

echoClient.SetAttribute(“PacketSize”, ns3::UintegerValue(512));

ns3::ApplicationContainer clientApps = echoClient.Install(robotNodes.Get(i));

clientApps.Start(ns3::Seconds(2.0 + i)); // Staggered start

clientApps.Stop(ns3::Seconds(20.0));

}

1. Energy Consumption Model

// Install Energy Source for Robots

ns3::BasicEnergySourceHelper energySourceHelper;

energySourceHelper.Set(“BasicEnergySourceInitialEnergyJ”, ns3::DoubleValue(100.0));

ns3::EnergySourceContainer energySources = energySourceHelper.Install(robotNodes);

// Install Energy Consumer for Communication

ns3::WifiRadioEnergyModelHelper radioEnergyHelper;

radioEnergyHelper.Install(robotDevices, energySources);

1. Run the Simulation

ns3::Simulator::Run();

ns3::Simulator::Destroy();

6. Analyze and Visualize

Metrics:

• Network Metrics:
  • The network metrices are consider the packet delivery ratio, latency, and throughput.
• Energy Metrics:
  • The energy metrices such as energy consumed through robots during communication.

Visualization:

• Ensure the tracing .pcap and .tr:

ns3::AsciiTraceHelper ascii;

phy.EnableAsciiAll(ascii.CreateFileStream(“networked-robotics.tr”));

phy.EnablePcapAll(“networked-robotics”);

• Use for envision tool like NetAnim:

./waf –run “networked-robotics-simulation –vis”

7. Iterate and Extend

• Additional Features:
  • Improve the inter-robot communication such as peer-to-peer.
  • It establishes the obstacles and dynamic path detection.
  • QoS-aware is incorporating the communication for complex challenges.
• Scenarios:
  • It replicates the several designs for congestion.
  • Estimate the performance for below various network environments.

At the end of this brief demonstration, you can get to know about the Networked Robotics projects and their simulation process. Also, we can provide more information regarding Networked Robotics through another manual