PERFORMANCE ANALYSIS OF QUALITY OF SERVICE ENABLED TEMPORALLY ORDERED ROUTING ALGORITHM USING ANT COLONY OPTIMIZATION IN MOBILE AD HOC NETWORKS

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1 R. Asokan et al. : Performance Analysis of Quality of Service Enabled Temporally Ordered Routing Algorithm Using Ant Colony Optimization in Mobile Ad Hoc Networks Advances in Engineering Science 11 Sect. C (2), April-June 2008, PP PERFORMANCE ANALYSIS OF QUALITY OF SERVICE ENABLED TEMPORALLY ORDERED ROUTING ALGORITHM USING ANT COLONY OPTIMIZATION IN MOBILE AD HOC NETWORKS R. Asokan 1 * & A. M. Natarajan Assistant Professor Electronics and Communication Engineering Department, Kongu Engineering College, Perundurai, Erode, Tamilnadu, India 2 - Chief Executive and Professor Bannari Amman Institute of Technology, Sathiyamangalam, Tamilnadu, India ABSTRACT Mobile Ad hoc NETworks (MANETs) are collection of mobile hosts dynamically forming a temporary network without the aid of any existing infrastructure or centralized control. Quality of Service (QoS) support for MANET is a challenging task due to the dynamic topology and limited resources. Routing in MANET depends on intermediate nodes. The existing QoS based routing solutions for MANET involves with single metric or two metrics. It is important that MANETs should provide QoS support routing such as acceptable delay, jitter and energy in case of multimedia and real time applications. The metrics selection can be from additive or multiplicative or concave or combination of the above. This paper proposes a QoS enabled Temporally Ordered Routing Algorithm (TORA) protocol using Ant Colony Optimization (ACO) called AntTORA. ACO technique is used in this protocol to optimize multiple QoS routing metrics like delay, jitter and energy. Ant-like agents are used in this algorithm to discover and maintain paths with the specified QoS requirements. The performance of TORA and AntTORA are analyzed using network simulator-2. AntTORA produces better performance than TORA in the terms of end-to-end delay, energy, jitter and throughput. Keywords: Mobile ad hoc network, Routing, QoS, TORA and AntTORA 1. INTRODUCTION Mobile ad hoc network is a collection of mobile devices, which form a communication network with no pre-existing wiring or infrastructure. Routing in mobile ad hoc networks is challenging since there is no central coordinator, such as base station, or fixed routers as in other wireless networks that manage routing decisions. All nodes in MANETs cooperate in a distributed manner to make routing decisions. Multiple routing protocols have been developed for MANETs. In proactive protocols, every node maintains the network topology information in the form of routing tables by periodically exchanging routing information. Routing information is generally flooded in the whole network. Whenever a node requires a path to a destination, it runs an appropriate pathfinding algorithm on the topology information it maintains. The Destination Sequenced Distance Vector (DSDV) routing protocol, Wireless Routing Protocol (WRP), and Cluster-head Gateway Switch Routing (CGSR) protocol are some examples for the protocols that belong to this category. Protocols that fall under reactive protocols category do not maintain the network topology information. They obtain the necessary path when it is required, by using a connection establishment process. Hence, these protocols do not exchange routing information periodically. The Dynamic Source Routing (DSR) protocol, Ad hoc On-demand Distance Vector (AODV) routing protocol, Temporally Ordered Routing Algorithm (TORA) and Associativity Based Routing *asokece@yahoo.com

2 12 Advances in Engineering Science Sect. C (2), April-June 2008 (ABR) are some examples for the protocols that belong to this category [1]. Quality of Service (QoS) is usually defined as a set of service requirements that need to be met by the network while transporting a packet stream from source to destination. With the increasing needs of QoS provisioning for evolving applications such as real-time audio/video, it is desirable to support these services in ad hoc networking environments. The network is expected to guarantee a set of measurable specified service attributes to the user in terms of endto-end delay, bandwidth, probability of packet loss, energy and delay variance (jitter). The QoS metrics can be classified as additive metrics, concave metrics, and multiplicative metrics. Bandwidth and energy are concave metrics, while cost, delay, and jitter are additive metrics. Bandwidth and energy are concave in the sense that end-to-end bandwidth and energy are the minimum among all the links along the path. The end-to-end delay is an additive constraint because it is the accumulation of all delays of the links along the path. The reliability or availability of a link based on some criteria such as link break probability is a multiplicative metric. Finding the best path subject to two or more additive/ concave metrics is a complex problem. A possible solution to route dealing with additive and non-additive metrics is to use an optimization technique. Ant Colony Optimization (ACO) is a subset of Swarm Intelligence. The basic idea of the ant colony optimization is taken from the food searching behavior of real ants [2]. When ants are on the way to search for food, they start from their nest and walk toward the food. When an ant reaches an intersection, it has to decide which branch to take next. While walking, ants deposit a pheromone, which ants are able to smell, which marks the route taken. The concentration of pheromone on a certain path is an indication of its usage. With time, the concentration of pheromone decreases due to diffusion effects. This is important because it is integrating the dynamic into the path searching process. The rest of the paper is organized as follows. In section two, the previous work related to QoS routing protocols is briefly reviewed. In section three, enhanced version of TORA based on Ant Colony Optimization (ACO) called Ant Temporally Ordered Routing Algorithm (AntTORA) is described. In section four the major simulation results are shown. In section five, the result of the work done is summarized. 2. RELATED WORK Core-Extraction Distributed Ad hoc Routing (CEDAR) algorithm is designed to select routes with sufficient bandwidth resources. CEDAR dynamically manages a core network, on which the state information of those stable high bandwidth links is incrementally propagated. CEDAR selects QoS routes upon request [3]. AntNet is an algorithm conceived for wired networks, which derives features from parallel replicated Monte Carlo systems, previous work on artificial ant colonies techniques and telephone network routing [4]. The idea in AntNet is to use two different network exploration agents (forward and backward ants), which collect information about delay, congestion status and the followed path in the network. Ant based Control (ABC) is another ant based algorithm designed for telephone networks. It shares many similarities with AntNet, but also incorporates certain differences [5]. The basic principle relies on mobile routing agents, which randomly explore the network and update the routing tables according to the current network state. The routing table stores probabilities instead of pheromone concentrations. Ant Colony Based Routing Algorithm (ARA) works in an on-demand way, with ants setting up multiple paths between source and destination at the start of a data session [6]. Probabilistic Emergent Routing Algorithm (PERA) works in an on-demand way, with ants being broadcast towards the destination at the start of a data session. Multiple paths are set up, but only the one with the highest pheromone value is used by data and the other paths are available for backup [7]. TORA-based QoS routing protocol for MANETs called INORA (INSIGNIA + TORA) is presented in [8].

3 R. Asokan et al. : Performance Analysis of Quality of Service Enabled Temporally Ordered Routing Algorithm Using Ant Colony Optimization in Mobile Ad Hoc Networks 13 INORA is a network layer QoS support mechanism that makes use of the INSIGNIA in-band signaling mechanism and TORA routing protocol for MANETs. In INORA, QoS signaling is used to reserve and release resources and set up, tear down and renegotiate flows in the network. The performance of TORA is improved by using Self-Healing and Optimized Routing Techniques (SHORT) [9]. It can be used to improve routing optimality by monitoring routing paths continuously and gradually redirecting the path whenever a shortcut path is available. In the simulation study it has been found that TORA-SHORT outperforms the TORA protocol in terms of throughput, end-to-end delay and network life time. AntHocNet is based on ideas from Ant Colony Optimization [10]. AntHocNet uses end-to-end delay as a metric to calculate congestion at a node, which may not yield accurate results as end-to-end delay is affected by both congestion as well as the length of the route from source to destination. ANSI (Ad hoc Networking with Swarm Intelligence) is a congestion-aware routing protocol, which owing to the self-configuring mechanisms of Swarm Intelligence, is able to collect more information about the local network and make more effective routing decisions than traditional MANET protocols. ANSI is thus more responsive to topological fluctuations [11]. A unicast on-demand routing protocol Swarmbased Distance Vector Routing (SDVR) is proposed to optimize three parameters delay, jitter and energy[12]. Forward ANT and Backward ANT are used in this algorithm to discover and maintain paths with the specified QoS requirements in AODV protocol. This protocol produces improved performance than AODV in terms of packet delivery ratio, end-to-end delay, energy and jitter. 3. QUALITY OF SERVICE ENABLED TEMPORALLY ORDERED ROUTING ALGORITHM This paper proposes Quality of Service enabled Temporally Ordered Routing Algorithm using Ant Colony Optimization (ACO) called Ant Temporally Ordered Routing Algorithm (AntTORA) and it takes into consideration of three QoS parameters delay, jitter and energy. 3.1 Ant Colony Optimization (ACO) The basic idea of the ant colony optimization Meta heuristic is taken from the food searching behavior of real ants. Figure 1 shows a scenario with two routes from the nest to the food place. At the intersection, the first ants randomly select the next branch. Since the route below is shorter than the upper one, the ants which take this path will reach the food place first. Figure 1 : Ants take the shortest path after an initial searching time On their way back to the nest, the ants again have to select a path. After a short time the pheromone concentration on the shorter path will be higher than on the longer path, because the ants using the shorter path will increase the pheromone concentration faster. The shortest path will thus be identified and eventually all ants will only use this one. This behavior of the ants can be used to find the shortest path in networks. Especially, the dynamic component of this method allows a high adaptation to changes in mobile ad hoc network topology, since in these networks the existence of links are not guaranteed and link changes occur very often. 3.2 Ant Temporally Ordered Routing Algorithm (AntTORA) Temporally Ordered Routing Algorithm (TORA) is a source initiated on-demand routing protocol which uses a link reversal algorithm and provides loop-free multipath routes to a destination node [13]. Each node maintains its one-hop local topology information and also has the capability to detect partitions. TORA has the unique property of limiting the control packets to a small region during the reconfiguration process initiated by a path break. TORA uses three different control message types, Query (QRY) for route discovery, Update (UPD) to update the routing

4 14 Advances in Engineering Science Sect. C (2), April-June 2008 structure and height tables and Clear (CLR) to delete invalid routes. Forward ant (FANT) and backward ant (BANT) packets are used in the route discovery process. Forward ants are used to explore new paths in the network. Backward ants serve the purpose to inform the originating node about the information collected by the forward ant. In AntTORA, FANT and BANT packets are added with QRY and UPD packets of Version # Type Reserved Destination IP Address Figure 2 : TORA QRY Packet Format track the cumulative delay and jitter based on backlog information of queued packets destined to the packet s source. So, when a packet reaches its destination, it contains the minimum residual energy, delay and jitter of its route back to its destination. Thus, energy, delay and jitter pheromone levels will be maintained at each node. Delay, Jitter and Energy pheromone As shown in Figure 6 if node Z forwards a BANT from node W to node X, node X creates a pheromone state entry for reaching node W through node Z. An example routing table is shown in Table 1. Version # Type Reserved Destination QoS Metrics IP Address Seq No, Source, Destination Figure 3: AntTORA FANT Packet Format Version Type Reserved Destination Mode H.tau, # IP Address # H.oid, H.r, H.delta H.id Figure 4 : TORA UPD Packet Format Version Type Reserved Destination Mode QoS Metrics # IP Address # H.tau H.oid,H.r, H.delta, H.id Figure 5 : AntTORA BANT Packet Format TORA and are used in route creation process. The packet formats of TORA and AntTORA are shown from figure 2 to Routing using Energy, Delay and jitter Metrics Ant packet headers have fields that: track the minimum residual energy of the nodes that relay them and Figure 6 : Example Network Topology Table 1 Routing Table at Node X Destina Neigh Delay Jitter Energy tion bor Pheromone Pheromone Pheromone Node Node W Y δ x (w, y) ψ x (w, y) ε x (w, y) W Z δ x (w, z) ψ x (w, z) ε x (w, z) W U δ x (w, u) ψ x (w, z) ε x (w, u) 4. PERFORMANCE EVALUATION The performance of TORA and AntTORA are evaluated in the same environment using Network Simulator (ns-2) [14]. End-to-end delay, routing

5 R. Asokan et al. : Performance Analysis of Quality of Service Enabled Temporally Ordered Routing Algorithm Using Ant Colony Optimization in Mobile Ad Hoc Networks 15 overhead, throughput, jitter and residual node energy are used as metrics to compare the performance of TORA with AntTORA. Table 2 lists the simulation parameters and environments used. Table 2 : Simulation parameters Simulation Area(Grid Size) 500m x 500m Maximum Number of Nodes 100 Node Communication Range 50 m Node Initial Placement Random Medium Access Mechanism IEEE Routing Protocol TORA, AntTORA Traffic Source Model CBR Packet Size 1024 Bytes Initial Node Energy 100 J Transmitting & Receiving Power 0.6 W & 0.03 W Mobility Model Random Waypoint Maximum Simulation Time 600s 4.1 End-to-end Delay End-to-end delay is the amount of time needed to deliver a packet from the source to the destination. Figure 7 shows the effect of mobility on end-to-end delay of TORA and AntTORA. The end-to-end delay increases as mobility increases from 10 to 100 meter/ sec. Higher mobility causes more link breaks and frequent re-routing, thus causing larger end-to-end delay. Broken links may cause additional route recovery process and route discovery process. AntTORA shows better performance in all the mobility conditions. Figure 8 shows the effect of pause time on end-toend delay of TORA and AntTORA protocols. The pause time is defined as the period of time a node stays motionless before heading to a new random location. It can be seen that increase in pause time results significant reduction on delay in both the protocols due to less link breaks. Figure 8: Pause time Vs End-to-end delay As nodes become more and more stationary, the path from source to destination becomes more stable. The reduction in end-to-end delay for AntTORA varies from 8 to 46%. Similarly the end-to-end delay is calculated by varying the number of nodes from 10 to 100 and the performance is shown in Figure 9. As the density of network becomes high, the probability of collision is also increases. Hence the average endtoend delay rises when the network density Figure 7: Node mobility Vs End-to-end delay Figure 9: No. of nodes Vs Delay

6 16 Advances in Engineering Science Sect. C (2), April-June 2008 increases. The percentage of reduction of end-to-end delay for AntTORA with that of TORA is around 75. This is due to delay pheromone included in the FANT and BANT packets in AntTORA. 4.2 Jitter Jitter or delay variance is measured as the average time difference between two consecutive data packet arrivals at the destination and averaged over the number of source to destination pairs. Figure 10 shows effect of pause time on jitter. The jitter gradually decreases when the pause time increased from 0 to 500 seconds. As nodes become more and more stationary, the path from source to destination becomes more stable. The jitter is reduced in AntTORA by 9 to 78%. Figure 11 shows the variations in delay under various node speeds. The jitter is increased at higher mobility due to breaking of more links and frequent re-routing. AntTORA gives better performance than TORA in all the mobility conditions. The value of jitter for number of nodes is depicted in Figure 12. The average jitter rises when the network density increases. The improvement over TORA is maximum when the number of nodes reaches 100. This is due to jitter pheromone included in the FANT and BANT packets of AntTORA. Figure 10: Pause time Vs Jitter Figure 12: No of nodes Vs Jitter 4.3 Energy Node Energy is the average residual node energy across the path. Figure 13 shows the effect of mobility on residual node energy. Residual node energy decreases with the increase in mobile speed, due to more link failure. The improvement over TORA is varied in the range of 3 to 12%. Figure 11: Node mobility Vs Jitter Figure 13: Node mobility Vs Energy

7 R. Asokan et al. : Performance Analysis of Quality of Service Enabled Temporally Ordered Routing Algorithm Using Ant Colony Optimization in Mobile Ad Hoc Networks 17 Figure 14 shows the effect of number of nodes on the residual node energy. Residual node energy decreases as increasing the nodes, as a result of more links. The residual node energy of AntTORA is slightly greater than that of TORA. Both protocols have same energy level when number of nodes is 10. The improvement over TORA is maximum when the number of nodes reaches 100. The residual energy is high in AntTORA than TORA because of energy pheromone is added in the FANT and BANT packets of AntTORA. Figure 15: Pause Time Vs Throughput Figure 14: No of nodes Vs Energy 4.4 Throughput Number of packets received in the destination is calculated and taken as throughput. Figure 15 shows the effect of pause time on throughput. The improvement over TORA is high for higher pause time. The throughput under different mobility is shown in Figure 16. It can be seen that increase in node speed results in significant decrease in throughput in both the protocols. It is observed that TORA and AntTORA show similar trends. As expected, throughput decreases as speed increases, since finding the route requires more and more routing traffic as speed increases. Therefore less and less of the channel will be used for data transfer, thus decreasing the overall throughput. AntTORA shows better performance than TORA. Figure 16: Node mobility Vs Throughput 4.5 Routing overhead Routing overhead is the packets required to route the packets from source to destination. Routing packets include control packets used for route discovery, route maintenance and pheromone updates. The effect of pause time on routing overhead is shown in Figure 17. As the pause time increases, route stability increases, resulting in a decreased number of routing packet transmissions and therefore a decrease in the routing overhead. Routing overhead of AntTORA is higher than that of TORA protocol. Since more control packets are required to include delay, jitter and energy pheromone in query and update packets. The overhead for path monitoring can

8 18 Advances in Engineering Science Sect. C (2), April-June 2008 be reduced by piggybacking the pheromone information on data packets. Figure 17: Pause time Vs Routing overhead 5. CONCLUSION In this paper, TORA based on-demand routing algorithm called AntTORA is proposed to optimize three QoS parameters delay, jitter and energy using Ant Colony Optimization (ACO). This avoids the overhead of having three independent routing algorithms, one for each QoS metric. The mechanism was based on the Forward ant (FANT) and backward ant (BANT) packets added in the query and update packets. The proposed protocol selects a minimum delay and jitter path with the maximum residual energy at nodes. AntTORA produced better results than the existing TORA in terms of packet delivery ratio, end-to-end delay and residual energy at node. Even though AntTORA results in a slightly high routing overhead than TORA, it performs well in route discovery with dynamic changes in the network topology and produces much better throughput with very low variance in the delay. Further this can be implemented on the other reactive and hybrid routing protocols. REFERENCES 1. E.M.Royer and C.K. Toh, A review of current routing protocols for ad hoc mobile wireless networks IEEE Personal Communications, 6(2): PP 46-55, Z.Liu, M. Z. Kwiatkowska and C. Constantinou, A biologically inspired QoS routing algorithm for ad hoc networks, International Conference on Advanced Information Networking and Applications, AINA : PP , P.Sivakumar, P.Sinha and V.Bharghavan, CEDAR: A core-extraction distributed ad hoc routing algorithm Special Issue on Wireless Ad hoc networks, 17(8): PP , G.Di Caro, and M. Dorigo, AntNet: Distributed stigmergetic control for communications networks. Journal of Artificial Intelligence Research, 9: PP , R.Schoonderwoerd, O. E. Holland, J. L.Bruten, and L.J.Rothkrantz, Ant-based load balancing in telecommunications networks, Adaptive Behavior, 5 : PP , M.Gunes, U. Sorges and I. Bouazizi, ARA: Ant- Colony based routing algorithm for MANETs, In Proc. of ICPPW, Vancouver, B.C., Canada. PP J.S.Baras and H.Mehta, PERA:A probabilistic emergent routing algorithm for mobile Ad hoc Networks in WiOpt 03 Sophia-Antipolis, France, D.Dharmaraju, A. Roy Chowdhury, P. Hovareshti and J. S. Baras INORA-a unified signaling and routing mechanism for QoS support in mobile ad hoc networks, Parallel Processing Workshops, 2002 Proceedings, PP 86 93, R.Asokan,A.M.Natarajan and Venkatesh.C Quality of Service Routing Using Path and Power Aware Techniques in Mobile AdHoc Networks Journal of Computer Systems, Networks, and Communications, Volume 2008, Article ID , 7pages doi: /2008/ G.Di Caro, F. Ducatelle and L. M. Gambardella, AntHocNet: An ant-based hybrid routing algorithm for mobile Ad hoc networks, in Proc. of PPSN VIII.LNCS. Springer-Verlag, S.Rajagopalan, C.C.Shen, ANSI: A unicast routing protocol for mobile networks using Swarm Intelligence, Proc. of Intl. Conference on Artificial Intelligence, PP R.Asokan, A.M.Natarajan and A.Nivetha A Swarm-based Distance Vector Routing to Support Multiple Quality of Service (QoS) Metrics in Mobile Ad hoc Networks Journal of Computer Science 3(9): PP , V. D. Park and M. S. Corson, A highly adaptive distributed routing algorithm for mobile wireless networks, in Proceedings of the 16th Annual Joint Conference of the IEEE Computer and Communications Societies (INFOCOM 97), vol. 3, PP , Kobe, Japan, April The network simulator- Ns-2. nsnam/ns.