Method for realizing group aggregation formation in sensing network

Abstract

The invention relates to a method for realizing group aggregation formation in a sensing network. The method comprises the following steps that: each sensor node acquires the local node distribution density information of an own area; nodes are selected in a high-density distribution area of sensors, and a high-speed operating mode is started; each sensor node sends gathering information to other sensor nodes in an own effective communication area, informs the sensor nodes of the own position, and asks other sensor nodes to approach to the sensor node; each sensor receives a plurality of pieces of gathering information and a plurality of speed vectors of other sensors of which effective communication ranges can cover the sensor, and each vector is subjected to vector summation to obtain the speed vector of the own next motion; and according to the obtained speed vector, each sensor node performs evolution movement to finally realize the whole aggregation of a sensor node system. By adoption of the method, the aggregation formation behavior of the sensor nodes can be realized under the high-efficiency control, and the energy consumption during long-distance communication and aggregation is remarkably reduced.

Description

technical field [0001] The invention belongs to the technical field of group behavior control, in particular to a method for realizing group gathering and formation in a sensor network. Background technique [0002] The group aggregation formation control problem refers to a collection composed of a large number of autonomous individuals, in the absence of centralized control and global models, through the individual's local perception and corresponding response behavior, the whole presents a convergent behavior. This control technology has very important applications in many fields. For example, in the formation control of unmanned aerial vehicles and outdoor exploration activities that people are keen on, it is very critical to ensure that individuals can finally assemble formations reliably and reasonably. [0003] The prototype of swarm aggregation formation control technology can be traced back to the Reynolds model. Later, based on the Reynolds model, Tanner used the p...

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Problems solved by technology

[0004] However, these currently widely used control models ignore the adjustment effect of individual distribution density on its control, but this adjustment effect is very important and meaningful in some occasions

In the traditional group gathering control method, the interaction between two individuals is an equal approach to or departure from each other, and the communication between individuals is also a two-way communication method. This working method requires all individuals to carry out relatively long Long-distance communication and movement, and long-distance communication and movement mean energy consumption, which is not applicable in some occasions, especially in occasions where the sensor network needs to attach great importance to the overall energy consumption.

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