Method for realizing virtual grid boundary crossing based on robot

Abstract

The invention relates to a method for realizing virtual grid boundary crossing based on a robot. The method comprises the steps that the robot searches the fine grid region on the boundary of the current virtual grid and adjusts the path according to the generation tree algorithm, and multiple new initial beacon nodes are put if entering the adjacent virtual grid. With application of the method for realizing virtual grid boundary crossing based on the robot, the boundary of the current virtual grid is searched according to the fine grid region, the path is generated or the new initial beacon nodes are put by using the coarse grid region, the path is adjusted to avoid the obstacle when the obstacle is detected, the tree branch is adjusted and generated according to the movement path, the robot is ensured to cross the boundary and set the new beacon nodes, the network full coverage map is automatically updated, wireless sensor network complete coverage can be realized, the network construction cost can be greatly reduced, the flexibility, the robustness and the accuracy of the robot can be enhanced and thus the method has wider range of application.

Description

technical field [0001] The present invention relates to the field of robot positioning, in particular to the field of mobile robot positioning in a wireless sensor network, and specifically refers to a method for realizing boundary crossing of a virtual grid based on a robot. Background technique [0002] The continuous innovation of computer technology, wireless communication, information network and integrated circuit technology promotes the rapid development of wireless sensor network technology. Wireless sensor network (wireless sensor network, WSN) is a multi-hop ad hoc network system formed by arranging a large number of sensor nodes in the area to monitor a specific area and obtain useful information therein. The deployment of wireless sensor nodes directly affects the coverage of the network, and then restricts the quality of service of the network. A considerable part of the current research on wireless sensor networks focuses on how to improve the coverage of wire...

AI Technical Summary

Problems solved by technology

However, it has been shown that due to the deployment of a sensor, the sensor cannot be sure whether the area is deployed to provide global fence coverage, making it impossible to develop an algorithm with limitations, thus limiting its use in practice.

Furthermore, a major limitation of local fence coverage is that independent sensors cannot locally determine whether the network cannot provide fence coverage, making it impossible to develop localized algorithms

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