Abstract: Based on the analysis of route discovery and route maintenance algorithm in Ad hoc On-demand Distance Vector （AODV）, combined with the data transmission characteristic of MANET-based Networked Control Systems （NCS）, we modified the route maintenance algorithm to reduce the average end to end delay, by means of starting route discovery immediately by the influenced source node on detecting the link failure. Simulation shows the effectiveness of the modified protocol when the MANET-based NCS is in small scale, and it is helpful to improve the system stability.

Key words: Ad hoc On-demand Distance Vector （AODV）, end to end delay, MANET-based Networked Control Systems （NCS）, NS2 simulation

摘要： 在对AODV的路由建立及路由维护机制分析的基础上，结合移动自组网络控制系统（NCS）中数据传输的特点，对AODV的路由维护机制做了改进，即当链路中断时立刻由影响到的源节点发起路由建立，以减少网络延时。NS2仿真结果表明，当网络规模不大时，改进后的协议能有效减少移动自组NCS端到端平均延时，有助于提高系统的可靠性。

关键词: Ad Hoc按需距离矢量路由协议, 端到端延时, 移动自组网络控制系统, NS2仿真