基于三维流函数的无线传感器网络移动Sink避障机制研究  

Research on Obstacle Avoidance Mechanism based on Three-Dimensional Stream Functions for Mobile Sink in Wireless Sensor Networks

作　　者：张美燕 蔡文郁[2] 严求真 ZHANG Meiyan;CAI Wenyu;YAN Qiuzhen(College of Electrical Engineering,Zhejiang University of Water Resources and Electric Power,Hangzhou Zhejiang 310018,China;College of Electronics and Information,Hangzhou Dianzi University,Hangzhou Zhejiang 310018,China)

机构地区：[1]浙江水利水电学院电气工程学院,浙江杭州310018 [2]杭州电子科技大学电子信息学院,浙江杭州310018

出　　处：《传感技术学报》2021年第8期1117-1122,共6页Chinese Journal of Sensors and Actuators

基　　金：国家自然科学基金项目(61871163,61801431);浙江省属高校基本科研业务费专项资金项目(GK209907299001-001);浙江省公益技术应用研究项目(LGF20F010005,LGF21F030001)。

摘　　要：面向存在障碍物的三维无线传感网络环境,本文提出了一种利用流体力学中的流函数为移动Sink节点规划避障路径的方法。本文方法借鉴了真实洋流运动的避障特性为移动Sink节点提供连续且平滑的流线轨迹,而且理论分析解决了存在多障碍物情况下流函数的拉普拉斯方程边界无解的问题。同时,本文将传统的二维流函数扩展应用到三维空间,研究了三维流函数的构造方法和"滞点"解决方案。仿真结果表明,采用本文提出的三维流函数所规划的移动Sink避障路径可实现多障碍物环境下的高效避障,还具有较好的连续性和平滑性,满足移动Sink节点在移动过程中智能躲避多障碍物的实际需求。Facing three-dimensional Wireless Sensor Networks(WSNs)environment distributed with multiple obstacles randomly, a novel obstacle avoidance path planning method for mobile Sink in WSNs is proposed based on the flow function in hydrodynamics. The proposed method provides continuous and smooth obstacle avoidance streamline trajectory for mobile Sink following the characteristics of real ocean currents. Moreover, the problem of boundary unsolved of Laplace equation with multiple obstacles is solved theoretically. Furthermore, the traditional two-dimensional flow function is extended to three-dimensional space, and the construction method and‘hysteresis’ solution of three-dimensional flow function are studied in deep. Simulation results show that the proposed three-dimensional flow function can achieve high efficiency of obstacle avoidance in the existence of multiple obstacles, and also has good continuity and smoothness, which meets the actual needs of avoiding multiple obstacles for Sink node in three-dimensional space.

关 键 词：无线传感器网络 Sink避障路径 三维流函数 多障碍物环境 

分 类 号：TP393[自动化与计算机技术—计算机应用技术]