基于局部信息的移动感知网覆盖方法  

Coverage of mobile sensor networks based on local information

作　　者：周彤[1] 洪炳镕[1] 朴松昊[1] 周洪玉[2] 

机构地区：[1]哈尔滨工业大学计算机科学与技术学院 [2]哈尔滨理工大学机械动力学院,哈尔滨150080

出　　处：《计算机应用研究》2008年第7期2016-2019,共4页Application Research of Computers

基　　金：国家“863”计划资助项目(2006AA04Z259);国家自然科学基金资助项目(69985002)

摘　　要：移动感知网是一个由许多带有传感器的自主移动机器人组成的分布式传感器网络。为了更好地部署这些移动机器人节点,形成最大化覆盖感知区域,提出了一种基于机器人局部信息的分布式感知网覆盖方法。每个节点利用与邻居节点之间的虚拟人工势场产生的虚拟作用力来控制移动节点的运动和节点间的避碰,使移动节点能够在允许的时间内,以较少的能量消耗移动到各自理想的位置。采用李亚普诺夫函数进行了感知网节点势场梯度的理论分析,用计算机仿真实验验证了该方法的有效性,并与模拟退火算法进行了性能比较。Mobile sensor network is a distributed sensor networks which is composed of many autonomous mobile robots with sensors. Presented a new distributed coverage method of mobile robot nodes based local information in order to deploy these nodes for forming maximum coverage of sensing area. Utilised the forces resulted from virtual potential fields between these nodes to control the movement of mobile nodes and collision avoidance. By this way mobile nodes moved to each perfect position using a little energy consume in allowable time. Made theoretic analysis of mobile sensor networks potential gradient was made by Lyapunov function. Numeric simulation verified the valid of the method and compared the performance with simulated anneal algorithm.

关 键 词：移动感知网 覆盖 虚拟力 多机器人 避碰 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]