The Study of Cooperative Obstacle Avoidance Method for MWSN Based on Flocking Control
Joint Authors
Li, Renfa
Chen, Zuo
Ding, Lei
Chen, Kai
Source
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-02-10
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Medicine
Information Technology and Computer Science
Abstract EN
Compared with the space fixed feature of traditional wireless sensor network (WSN), mobile WSN has better robustness and adaptability in unknown environment, so that it is always applied in the research of target tracking.
In order to reach the target, the nodes group should find a self-adaptive method to avoid the obstacles together in their moving directions.
Previous methods, which were based on flocking control model, realized the strategy of obstacle avoidance by means of potential field.
However, these may sometimes lead the nodes group to fall into a restricted area like a trap and never get out of it.
Based on traditional flocking control model, this paper introduced a new cooperative obstacle avoidance model combined with improved SA obstacle avoidance algorithm.
It defined the tangent line of the intersection of node’s velocity line and the edge of obstacle as the steering direction.
Furthermore, the cooperative obstacle avoidance model was also improved in avoiding complex obstacles.
When nodes group encounters mobile obstacles, nodes will predict movement path based on the spatial location and velocity of obstacle.
And when nodes group enters concave obstacles, nodes will temporarily ignore the gravity of the target and search path along the edge of the concave obstacles.
Simulation results showed that cooperative obstacle avoidance model has significant improvement on average speed and time efficiency in avoiding obstacle compared with the traditional flocking control model.
It is more suitable for obstacle avoidance in complex environment.
American Psychological Association (APA)
Chen, Zuo& Ding, Lei& Chen, Kai& Li, Renfa. 2014. The Study of Cooperative Obstacle Avoidance Method for MWSN Based on Flocking Control. The Scientific World Journal،Vol. 2014, no. 2014, pp.1-12.
https://search.emarefa.net/detail/BIM-1050337
Modern Language Association (MLA)
Chen, Zuo…[et al.]. The Study of Cooperative Obstacle Avoidance Method for MWSN Based on Flocking Control. The Scientific World Journal No. 2014 (2014), pp.1-12.
https://search.emarefa.net/detail/BIM-1050337
American Medical Association (AMA)
Chen, Zuo& Ding, Lei& Chen, Kai& Li, Renfa. The Study of Cooperative Obstacle Avoidance Method for MWSN Based on Flocking Control. The Scientific World Journal. 2014. Vol. 2014, no. 2014, pp.1-12.
https://search.emarefa.net/detail/BIM-1050337
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1050337