【作者】 彭力； 李超； 赵龙； 谈金东；

【Author】 Peng Li 1,Li Chao 1,Zhao Long 1,Tan Jindong 2 1.College of Communication and Control Engineering,Jiangnan University,WuXi214122,P.R.China 2.Department of Electrical and Computer Engineering,Michigan Technological University,Michigan MI 49931-1295,America

【机构】 江南大学通信与控制工程学院； Department of Electrical and Computer Engineering,Michigan Technological University；

【摘要】 移动传感器网络越来越受到人们的关注。其模型的建立,有利于对系统的深入分析。本文给出了一种基于定位信息和图论的分布式传感器网络模型。用Delaunay三角剖分描述节点实体和他们的关系以及结点之间的信息传递和融合;用Voronoi图定义节点覆盖的区域。该模型可以克服现有基于固定基站来定位的系统的缺点,使网络更具灵活性。并在此模型的基础上,研究了几种多机器人编队控制方法,提出了更具稳定性和柔性的混合编队算法,仿真结果表明其能更好的完成一项较复杂的任务。更多还原

【Abstract】 People are paying more and more attention to mobile sensor network now.Establishment of its model is conducive to in-depth analysis of the system.Based on the located information and graph theory,a distributed sensor network model is introduced.Delaunay triangulation used to describe nodes and the relationship between them and their transmission and fu-sion of information between nodes.And the description of coverage region of nodes uses Voronoi diagrams.With the model,disadvantages of existing located system based on a fixed infrastructure could be overcame.The flexibility of the sensor net-work would be greatly enhanced.And multi-robot formation control algorithm is also discussed with this model.It makes the network intelligent and more energy-efficient.The result shows it could complete complicated missions.更多还原