# Research on Routing Algorithm of Construction Robot Cluster Enhanced Ad Hoc Network
## 1 Introduction
### Related Work  
In terms of reducing node energy consumption, in [11], the energy efficiency of nodes is improved through clustering and efficient routing is established through the number of node hops, which has a good effect on the transmission rate of data packets. The research is based on static networks and considers the dynamic uncertainty of the scene less. In [12], the routing algorithm based on the Firefly algorithm to optimize FCM (Firefly algorithm to optimize fuzzy C-means, FFACM) establishes a cost function by calculating the link cost between nodes, which improves the energy consumption of nodes. In addition, the routing overhead can also be reduced by probabilistic broadcasting based on trust [13]. It can solve the broadcast storm phenomenon caused by many broadcast routing requests to a certain extent. It should be noted that in [13], the scene with uneven distribution of nodes is not considered.  
In terms of reducing node load, in [14], the routing strategy of the ad hoc on-demand multipath distance vector (AODMV) protocol was improved, and the nodes with smaller MAC layer interface queue length and higher residual energy were selected to forward data packets. It was improved, but it is easy to initiate route discovery frequently. In [15], the hybrid routing algorithm integrating Ant Colony Optimization (ACO) and the minimum hop mechanism had good results in finding the optimal path, balancing network load, and maintaining network topology, but the algorithm added complexity. In [16], the channel busyness-based multipath load balancing routing protocol (CBMLB) distributed the load among available alternative paths to reduce a load of intermediate nodes with increased channel busyness. However, it relies too much on disjoint paths with lower congestion, which makes the network load unbalanced.  
In terms of maintaining the stability of routing links, in [17], a more stable and reliable multi-path quality of service multicast routing protocol (SR-MQMR) considering stability and reliability was proposed for the bandwidth limitation of wireless nodes and the lack of sufficient multicast trees. According to the node signal strength one must select more stable routing nodes, but when the threshold for selecting stable nodes is equal to the average variance of neighbor node stability, this rule is unsuitable for selecting stable nodes. In [18], the link stability problem was described as the minimum cost capacity flow problem in routing selection, and the routing problem was solved in the minimum time, employing incremental subcontracting. However, there is no alternative route, which reduces the network's reliability. In [19], a delay and link stability aware (DLSA) routing protocol was proposed to improve link stability by maximizing packet delivery rate and minimizing end-to-end delay but increasing the node load to some extent.  
In terms of dynamic routing maintenance, in [20], the routing interaction process was maintained by managing the data packets and routing between the source and destination nodes. However, it still needs to be improved in terms of security. In [21], a routing selection method based on maintaining network connectivity to improve the overall life of the network was proposed. The network survival time, packet delivery rate, and network connectivity rate were improved through active and reactive routing maintenance strategies. However, the performance in the highly dynamic environment needs to be further verified. In order to avoid problems such as network connectivity failures caused by dynamic uncertainties, such as rapid network topology changes [22], based on node power control [23], the use of inter-node transmission power maximization will quickly generate dense network areas, making the network performance decrease [24; 25], increasing the packet loss rate of network communication and reducing network throughput [26; 27; 28].