动态分簇的多移动机器人WSN数据收集方法研究  

Research on the Method of Data Collection of Wireless Sensor Network with Multiple Mobile Robots Under Dynamic Clustering

作　　者：孔令富[1] 景荣[1] 赵逢达[1] 解娜[2] 

机构地区：[1]燕山大学信息科学与工程学院,河北秦皇岛066004 [2]燕山大学图书馆,河北秦皇岛066004

出　　处：《小型微型计算机系统》2014年第4期845-849,共5页Journal of Chinese Computer Systems

基　　金：国家自然科学基金项目(60975062)资助;河北省自然科学基金项目(F2012203199)资助

摘　　要：数据收集是无线传感器网络(Wireless Sensor Network,WSN)的基本问题.近年来的研究表明相比于WSN的静态多跳转发数据收集,利用移动机器人作为移动节点辅助WSN进行数据收集能够有效地减少数据转发跳数,提高WSN的生命周期,然而由于移动机器人移动速度相对较慢的机械特性,使得WSN的数据收集时间产生了较大的延迟.为了较好地解决WSN生命周期与移动机器人数据收集时间延迟间的相互矛盾问题,提出基于动态分簇的多移动机器人数据收集问题(Dynamic Cluster Based Multi-robot Data Collection,DC-MDC),并将其公式化为一个整数线性规划.在公式化过程中,先将WSN划分成簇,然后再将每个簇划分成具有最大深度为d的子簇路由树,最后利用移动机器人在每个簇的子簇路由树的根节点之间进行数据收集.为了解决DC-MDC问题,本文给出了一个分布式的启发性数据收集算法(Distributed Heuristic Data Collection Algorithm,DHDCA),并利用大量的对比仿真实验验证了此算法的有效性.Data collection is a fundamental issue in wireless sensor network （ WSN ）. Recent research has shown that using mobile ro- bots as mobile nodes to collect and carry data in WSN can effectively reduce the data relay hops and improve the life cycle of the WSN over static multi-hop routing. However, since the low speed mechanical propertiy of the mobile robot, a superior data collecting time delay has been produced in WSN. In order to better solve the conflicting issues between the lifecycle of WSN and the delay of mobile robot data collecting time, this paper puts forward a dynamic clustering based multi-robot data collection （ DC-MDC ）, and formulates the DC-MDC as an integer linear programming problem. Specifically, the WSN is divided into clusters, then each cluster is divided into several sub-cluster routing tree whose maximum depth is d, the data cached by the root sensor of each sub-cluster rou- ting tree are collected using muitiple mobile robot at last. In order to solve the problem of DC-MDC, an distributed heuristic data col- lection algorithm （ DHDCA ） is proposed, and the large number of comparative simulation experiments verifies the effectiveness of this algorithm.

关 键 词：移动机器人 无线传感器网络 数据收集 分簇 

分 类 号：TP393[自动化与计算机技术—计算机应用技术]