A method for controlling the motion behavior of mobile wireless sensor network nodes
A sensor network and mobile wireless technology, applied in the direction of two-dimensional position/channel control, etc., can solve the problems of low purpose in the optimization process, inability to cover various movement forms of mobile node groups, slow convergence speed, etc., and achieve identification and the effect of the simple and feasible treatment plan
Active Publication Date: 2016-03-02
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology
Among them, the convergence speed of ant colony and particle swarm algorithm is slow, the efficiency is not high, and its control algorithm cannot cover various motion forms of mobile node groups
Although the artificial fish swarm algorithm proposes a behavior-based method, it is an algorithm for finding the optimal solution. Its behavior is mainly used to find the global optimal solution or local optimal solution, not a method for group motion control. And the purpose of its optimization process is not strong, so it does not meet the characteristics of clear tasks of mobile wireless node groups
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[0035] The present invention will be described in detail below with reference to the accompanying drawings and examples.
[0036] The invention provides a mobile wireless sensor network node movement behavior control method. The node group in the network is composed of a pilot node and a follower node. The pilot node builds a network, and the follower nodes join the network established by the pilot node. The pilot node sends motion behavior instructions to the follower nodes, and the follower nodes move according to the received instructions. The network adopts a self-organizing multi-hop network, and the following nodes in the node group can perform the function of routing, relaying and forwarding the command of the pilot node.
[0037] The control method of the present invention consists of converging behavior, moving following behavior and group obstacle avoidance behavior. Aggregation behaviors include static aggregation behaviors and dynamic aggregation behaviors. The m...
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Regarding the characteristics that a control algorithm is simple and the node movement format of a mobile wireless sensor network is various, combined with the characteristic of the control purposiveness of group motions, a node movement behavior control method for the mobile wireless sensor network is disclosed. Nodes in a node group conduct information interaction through a wireless network, and the control method is composed of a converge behavior, a movement following behavior and a group obstacle avoidance behavior. The converge behavior comprises a static converge behavior and a dynamic converge behavior, the group obstacle avoidance behavior is composed of a separating mode, a grouping mode and a clustering mode, and the separating mode, the grouping mode and the clustering mode are combined to control the node group to execute tasks. When obstacles are encountered, one of the three modes in the group obstacle avoidance behavior is adopted for obstacle avoidance.
Description
technical field [0001] The invention belongs to the technical field of motion control based on mobile wireless sensors, and in particular relates to a method for controlling motion behavior of a mobile wireless sensor network node. Background technique [0002] The mobile wireless sensor network combines the mobility and flexibility of mobile robot technology with the advantages of strong topological capability and wide sensing space of wireless sensor network technology, and solves the problems of static sensor network node deployment and maintenance, and single and fixed detection range. The intelligence of the nodes in the mobile wireless sensor network is simpler than that of the mobile robot, which has a movable mechanism, and the information exchange is carried out between the nodes through the wireless network. [0003] There are many researches on intelligent swarm motion control methods mainly in the field of multi-robots, but the research methods are not fully appl...
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IPC IPC(8): G05D1/02
Inventor 宋萍杨诚曾星郝创博牟宗磊赵海磊
Owner BEIJING INSTITUTE OF TECHNOLOGYGY