【作者】 王帅； 张云生； 王彬；

【Author】 Wang Shuai,Zhang YunSheng,Wang Bin Facuty of Information Engineering and Automation,Kunming Univercity of Since and Technology,Kunming 650051,P.R.China

【机构】 信息工程与自动化学院昆明理工大学；

【摘要】 本文研究了无线传感器网络中的受控机器人碰撞问题。分析了该问题下无线传感器网络的体系结构,介绍了网络中机器人的追踪对策问题描述。将问题转化为微分对策,并建立其数学模型,给出受控机器人的最优控制策略。利用PtolemyII的Actor设计方法与层次异构思想对其进行仿真建模。研究表明,微分对策可以有效地解决机器人追踪碰撞问题,PtolemyII的设计方法更直观地对传感器网络进行仿真。更多还原

【Abstract】 Collision problem of two controlled robots in wireless sensor network was researched.The system of wireless sensor network was analysis,and the problem of Pursuit-Evasion Games was described.Then the collision problem was converted into differential games problem,and mathematical model for collision problem was formed.The optimal controlling strategies for the two robots is given,and the model is constructed by using actor-oriented and hierarchical heterogeneity in PtolemyII.The research indicates that the differential games are efficient in dealing with collision problem,and the network model can better be constructed by using PtolemyII.更多还原