基于单个移动信标节点的路径规划方法

针对现有路径规划方法没有充分考虑到网络内未知节点的分布情况，存在定位覆盖率低且网络成本高的问题，设计了一种基于单个移动信标节点的路径规划方法。首先通过网络内未知节点的分布情况确定虚拟信标节点的位置以及数目；然后提出了一种基于高斯递减策略的非线性动态变化收敛因子改进灰狼优化算法，用于TSP求解路径规划问题，获得移动信标节点最短移动路径。仿真结果表明，该方法有效地提高了网络内未知节点的定位覆盖率，并且有效节省了网络成本。

Path planning method based on single mobile beacon node

The existing path planning method didn''t take full account of the distribution of unknown nodes in the networks, the positioning efficiency was low and the cost was large. This paper designed a path planning method of mobile beacon node. Firstly, it determined the position of the virtual beacon nodes and the number by making full use of sensor nodes distribution. Then it proposed the grey wolf optimization algorithm of nonlinear dynamic change convergence factor based on Gaussian decreasing strategy. This algorithm was used in the TSP to solve the path planning problem, and obtained the shortest moving path of the mobile beacon node. Simulation results show that the proposed method can effectively improve the localization coverage and save the localization cost.