基于移动障碍的MWSN节点协同转向避障方法

针对传统蜂拥控制模型协同避障的研究,笔者曾对其做出了改进,并加入了Steer to Avoid避障法则,通过仿真表明,它能够有效提高避开静止障碍的效率。该模型用于具有移动障碍的环境时,若障碍的运动方向与节点的判断方向同向,可能会与障碍物保持相对静止,从而大幅度降低避障效率。对Steer to Avoid进一步改进,提出一个新的针对移动障碍物的避障模型。当障碍物的运动趋势和节点的Steer to Avoid转向判断相同而且两者的速度较为接近时,节点将向着障碍物运动的相反方向运动。提出了对障碍物的移动预判。仿真实验结果表明,与传统两个模型相比,该模型在平均速率和时间效率上有显著提高,并且适用于避开未知的移动凸形障碍。

Cooperative Obstacle Avoidance Approach in Mobile Wireless Sensor Network:Mobile Obstacle

Aiming at the research of cooperative obstacle avoidance in tracing based on the traditional flocking model,it was improved by us and added the Steer to Avoid obstacle avoidance method.The improved model has a high efficiency in avoiding static obstacle.We applied this model to mobile obstacle environment.It turns out that the obstacle avoi-dance efficiency is very low,because it is possible that WSN nodes and obstacle stay relatively static in the process of avoiding obstacle.Aiming at this drawback,this article proposed a new cooperative obstacle avoidance approach by improving the Steer to Avoid method.When the velocity of the obstacle is close to nodes’ velocity,WSN nodes will be moving in the reverse direction of the obstacle.And we introduced obstacle moving prediction.Simulation results show that the proposed model,compared with the traditional model,has a marked increase on average speed and time efficiency.Also,it can succeed in avoiding mobile convex obstacles in unknown environment.