Three-dimensional directed heterogeneous mobile sensor network self-deployment method based on Voronoi diagram

Abstract

The invention discloses a three-dimensional directed heterogeneous mobile sensor network self-deployment method based on a Voronoi diagram. On the basis of weighted Voronoi division and virtual forcecalculation, an automatic deployment process is converted into an automatic movement and rotation process of network nodes. The method comprises the steps of calculating node weights; adjusting node directions to be within a monitored area; carrying out Voronoi division; calculating Voronoi area mass centers; calculating virtual repulsive force; calculating resultant force of the virtual repulsiveforce born by the nodes and displacement vectors; calculating a resultant displacement vector of each node; updating node positions; and adjusting position and direction information of boundary nodes, thereby enabling the nodes to return to the monitored area. The space area coverage problem of centrally placing the directed heterogeneous mobile sensor nodes in a three-dimensional space environment is solved, a coverage rate of a network is improved, the node deployment is finished rapidly, and the coverage performance of the network is ensured.

Description

technical field [0001] The invention belongs to the field of wireless sensor networks, and relates to a method for realizing autonomous deployment of directed heterogeneous mobile sensor networks in a three-dimensional environment. Background technique [0002] With the development of wireless communication, electronics and sensing technology, wireless sensor networks can connect the virtual world with the real world on an unprecedented scale, and have great potential in the fields of national security, environmental monitoring, traffic management, space exploration, disaster prevention and rescue. Due to its high interdisciplinary nature and broad application prospects, it has attracted great attention from academia and industry all over the world, and has become a new frontier hotspot in the current IT field. According to the type of sensor nodes used, wireless sensor networks can be divided into many types. For example, if a node has a camera device and has the function ...

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Problems solved by technology

[0007] In order to overcome the deficiencies of the above-mentioned prior art and solve the spatial area coverage problem of centralized placement of nodes in a directional heterogeneous mobile sensor network in a three-dimensional space environment, the present invention proposes a self-deployment of a three-dimensional directional heterogeneous mobile sensor network based on a Voronoi diagram method, based on the combination of the weighted Voronoi partition method and the principle of virtual force, the cooperative autonomous deployment process of the directional mobile sensor network is transformed into the process of autonomous movement and autonomous rotation of nodes, which is suitable for the autonomous deployment of directional heterogeneous mobile sensor networks

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