By the time you could retransmit a packet, that part of the phone call is over and the next packet is already being used, so it will not add much unless you are hoping to save a complete record of the call for later. VoIP wants a very short latency, so the lower CPU overhead of UDP speeds every packet out of the NIC.
I tried to remain child-like, all I acheived was childish.
There's a lot of connection setup time with TCP that UDP doesn't have. Also, TCP has overhead for acknowledging each and every packet sent. Also, TCP has a pacing/throttling mechanism that will actually slow down the pace of transmission to fit the bandwidth available.
This means TCP just can't keep up with the flow.
UDP on the other hand just does a spray-and-pray to get the packets there. Yes, some packets may get lost, but that only results in tiny drops and maybe static, but you can still understand the conversation. The human mind can deal with small gaps in sound and video.
So, the reason is purely for performance. UDP can handle real time sound, TCP can't.
Since the packets are sent in order, and are most likely taking the same path, you're more likely to lose a packet than to have one beat the other to the destination.
.... UDP has no control over the order in which packets arrive at the destination or how long it takes them to get there (datagram concept). Both of these are very important to overall voice quality (how well you can understand what the other person is saying) and conversation quality (how easy it is to carry out a conversation). RTP solves the problem enabling the receiver to put the packets back into the correct order and not wait too long for packets that have either lost their way or are taking too long to arrive (we don't need every single voice packet, but we need a continuous flow of many of them and ordered).
Sorry about that. UDP doesn't have a sequence number, but RTP does. Real-time Transport Protocol (RTP) is the protocol that VoiP uses. RTP is carried by UDP. The RTP headers have both a sequence number and a time stamp to know if that mouthfull of bits is here on time and in order.
Also, keep in mind that each voice packet only contains 10-30 milliseconds of audio. A missing packet here or there is likely to go unnoticed, especially since much of the conversation is silence. As others have pointed out, RTP takes care of packets getting out of order.
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