Clustering is considered as the potential approach for network management in vehicular ad hoc network (VANET). The performance of clustering is often assessed based on the stability of the clusters. Hence, most of the clustering methods aim to establish stable clusters. However, besides the stability of cluster, good link quality must be provided, especially when reliable and high-capacity transmission is demanded. Therefore, this paper proposes a clustering method based on coalitional game theory with the purpose to improve the average of vehicle-to-vehicle (V2V) signal-to-noise ratio (SNR) and channel capacity while maintaining the stability of the cluster. In the proposed method, each vehicle attempts to form a cluster with other vehicles according to coalition value. To attain the purpose of clustering, the value of coalition is formulated based on the V2V SNR, connection lifetime, and speed difference between vehicles. In fast-changing network topology, the higher average of SNR can be achieved but the stability of cluster becomes hard to be maintained. Based on the simulation results, SNR improvement can be adjusted in order to balance with the cluster stability by setting the parameters in the proposed method accordingly. Further simulation results show that the proposed method can obtain a higher average of V2V SNR and channel capacity than other relevant methods.
ABSTRAKMakalah ini memaparkan proses pemodelan robot inverted pendulum beroda dua (IPBD) menggunakan dinamika Lagrange. Setelah sistem model robot IPBD diperoleh, teknik kendali optimal dalam hal ini menggunakan linear quadratic regulator (LQR) digunakan untuk melihat step respon sistem dan tanggapan respon sistem terhadap gangguan. Sebelum kendali LQR diimplementasikan, simulasi menggunakan Simulink Matlab dilakukan untuk mendapat parameter gain K pada kendali LQR. Selanjutnya, dengan mengubah-ubah matriks pembobot Q akan diperoleh variasi gain K. Pada penelitian ini dilakukan variasi matriks pembobotan Q sebanyak lima jenis. Sedangkan matriks elemen R dituning dengan nilai satu. Dari hasil pengujian diperoleh bahwa dengan membesarkan pembobotan matriks Q, dihasilkan respon menuju keadaan steady lebih cepat dan overshoot berkurang. Parameter gain K dari hasil simulasi selanjutnya akan diimplementasikan secara embedded programming ke dalam Arduino Uno pada sistem robot IPBD.Kata kunci: Inverted pendulum beroda, Pemodelan, LQR ABSTRACTThis paper describes the process of modeling two-wheeled pendulum inverted robots (IPBD) using the Lagrange dynamics. After the IPBD robot model system was obtained, the optimal control technique in this case using a linear quadratic regulator (LQR) was used to see the system response step and the response of the system response to interference. Before the LQR control is implemented, simulation using Matlab Simulink is conducted to get the gain K parameter on the LQR control. Furthermore, by varying the weighting matrix Q, the gain variation K will be obtained. There are five types of Q weighting matrix in this research and the R element matric is tuned with a value of 1. From the test, obtained results show that by raising the weighting matrix Q is produced a faster response to the steady state and overshoot is reduced. At the final stage, the gain K parameter from the simulation results will be implemented by embedded programming into Arduino Uno on the IPBD robot system.Keywords: Wheeled inverted pendulum, Modelling, LQR
In a vehicular ad hoc network (VANET), the nodes have very high mobility and hence, it is an important challenge to maintain the quality of communication. Due to the mobility, the vehicle nodes should perform handover from one infrastructure to another. Thus, the better quality of signal can be obtained. In vehicle to vehicle (V2V) communication, the nodes may experience more frequent handover than in vehicle to infrastructure (V2I) communication. Frequent handover can aggravate the networks especially in routing process, since the network topology is also changed when a handover occurred. Moreover, the network resources are also used for handover process and hence the communication overhead increases. In this paper, a handover decision method is proposed to reduce the handover rate in V2V communication while maintaining the quality of signal. The proposed method utilizes the moving average slope of received signal strength (MAS-RSS) and signal to noise ratio (SNR) threshold in handover decision process. The MAS-RSS technique is used to observe the trend of RSS fluctuation and hence the handover can be decided adaptively with the change of the network condition. As the result, the handover rate can be reduced without causing the significant decrease of SNR average compared to the ordinary RSS based handover decision method.
VANET has a dynamic topology that affects cluster formation stability. It influences vehicle’s network quality though supporting this stability requires a fast and small cluster formation process. It is necessary because of the rapidly changing condition of the vehicle's position. Moreover, small cluster groups make network quality more evenly distributed among its members. They are essential components in the formation of good clusters in VANET. In the previous research, the algorithm used for this process is based on moth flame optimization. This study proposes modifications in this algorithm to speed up the convergence process, facilitated by a model of turning angles in the moth. Furthermore, the flame at the destination moth is created dynamically to approach the real conditions in VANET. The use of coefficients is further introduced to reduce cluster size according to the traffic conditions. The cluster management process uses a fully controlled Road Side Unit on the vehicle’s traffic conditions. In the final result, the convergence time is slightly faster, with better results in the throughput at 101.1%, the number of clusters at 58.1%, and the delay at 5.5%, respectively.
Vehicular ad hoc network (VANET) is the emerging wireless communication technology in vehicular domain to support the safety and non-safety purposes in transportation. Despite the potential implementation of VANET, some challenges mainly due to the dynamic environment need to be addressed and tackled. In this paper, the horizontal handover especially in vehicle-to-vehicle (V2V) connection is investigated. The dominant handover decision method in wireless network, namely received signal strength (RSS) based method, is actually inappropriate for the implementation in V2V VANET. Therefore, a utility based handover decision method is proposed in this paper. The utility function is formulated based on the value of signal to noise ratio (SNR) and the load of network. Despite the fluctuation of SNR, the proposed method can make the better handover decision i.e. by reducing the ping pong effect and improving the throughput by selecting the network with lower load. In this research, the proposed method is evaluated through simulations. The results of simulations show that the proposed method can improve the performance of V2V handover in terms of throughput and handover rate compared with the RSS based method.
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