# Enhanced QoS Routing Protocol for an Unmanned Ground Vehicle, Based on the ACO Approach
## 3 Result and Discussion
### QoS Validation and Analysis  
Figure 3a,b show how the road segment length L, cell size cs, vehicle distance density, and communication range R affect the road segment probability. Figure 3a shows the upper and lower bounds of the road segment connectivity for cs = R and cs = 0.5 R. Accordingly, the average analytical results (CI = 95%) closely match the simulation results for cs = 0.75 R. We set L = 1500 m and cs = 0.75 R in Figure 3b, and we notice that the mean analytical findings match the simulation model for all Rs. The packet delivery ratio of the road segment is adjusted at \(\lambda\) = 0.015 vehicles/m in Figure 4a, the mean distance between the theoretical and simulation results is only 4.85%, in the case of cs = 0.75 R. Furthermore, as the distance of the road segment increases, so does the ratio of the packets delivered, since more transmission hops are necessary. Moreover, when the interference percentage is reduced due to less interference from the surrounding nodes, the packet delivery rate increases. Figure 4b depicts the packet delivery ratio model's availability with the varied vehicle separation density, packet size, and the channel transmission rate (CTR). As anticipated, as the CTR increases, the delivery ratio of the packet decreases, resulting in an increased BER, and a lower SINR. Furthermore, as the vehicle distance density grows, the ratio of the packet delivery increases also. This is due to the fact that the increasing UGV spacing density enhances the network connectivity, forcing the data packets to be routed mostly over wireless communications, which causes more interference from the wireless channel decaying. Figure 5a,b depict the relationship between the road section delay, cell size, CTR, and the spacing density of the UGV. \begin{table}
\begin{tabular}{l l} \hline \hline
**Parameters** & **Values** \\ \hline The network protocol & IEEE 802.11p \\ The packets rate & 2 pps \\ The range of communication & 150–300 m \\ Transmission range & 250–400 m \\ Packet size & 64 B \\ Number of firefighting UGVs & 50–3000 \\ Delay & 10 ms \\ \(\alpha\), \(\beta\) parameter & 0.5, 0.3 \\ \(\sigma\) parameter & 0.2 \\ QoS weights \(\varphi\)1,2,3 & 0.2, 0.2, 0.6 \\ Speed of vehicles & 10 to 20 m/s \\ Time simulation & 30 min \\ Simulation range & [5000 \(\times\) 5000] (m) \\ \hline \hline \end{tabular}
\end{table} 
Table 2: Shows the simulation settings in the proposed study. Figure 4: Road segment packet delivery ratio, depends on the channel transmission rate. **(a)** the mean distance between the theoretical and simulation results is only 4.85%, in the case of cs = 0.75 R. Furthermore, as the distance of the road segment increases, so does the ratio of the packets delivered, since more transmission hops are necessary. **(b)** depicts the packet delivery ratio model’s availability with the varied vehicle separation density, packet size, and the channel transmission rate (CTR). Figure 3: Road signal connectivity depends on the connectivity and density. **(a)** shows the upper and lower bounds of the road segment connectivity for cs = R and cs = 0.5 R. Accordingly, the average analytical results (CI = 95%) closely match the simulation results for cs = 0.75 R. We set L = 1500 m and cs = 0.75 R in **(b)**. Once the simulation and the analytical results concur well for cs = 0.75 R, the precision of our road segment delay model is demonstrated. Additionally, from Figure 5a it shows that, when the vehicle spacing density grows, the road segment latency decreases significantly, demonstrating that the network partitions may be corrected. In Figure 5b, the \"A\" is set to (0.03) vehicles/m. The figure illustrates how the latency of the road segments reduces as the CTR improves, allowing the packets to communicate swiftly with no need for consuming time. Based on the previous study, in the case of cs = 0.75 R, the whole error average for the simulation and the analytical findings are not more than 5%, demonstrating that, the suggested QoS scheme of the road segments are viable.