Coverage Control For Heterogeneous Mobile Sensor Networks On A Circle With Unidirectional Motion

Recently,mobile sensor networks have been extensively used in many applications such as military reconnaissance,environmental monitoring,and data collection.As one of the basic problem of mobile sensors networks,the problem of coverage control has attracted more and more attention.Now,most of works about coverage control for mobile sensor networks focus on homogeneous networks,little attention has been paid to heterogeneous sensor networks with different maximum velocities and locomotion constraints.This thesis studies the coverage control for heterogeneous mobile sensor networks with unidirectional motion.Under the proposed control law,the mobile sensors are driven from the initial positions to optimal positions,such that the largest arrival time from mobile sensors to arbitrary point on the circle is minimized.When considering the existence of mobile sensors' constraints in maximum velocities,the mobile sensor's constrains condition will be different for different mobile sensor networks.For first-order dynamical system,the velocity constraints problem is a problem of input saturation.The proposed control law utilizes a continuous saturation function to ensure the boundedness of the velocity.And a collision avoidance strategy based on the potential energy function method is designed to ensure that the distance between the mobile sensor is always larger than the safety distance.It is proved that the mobile sensors can be driven to the optimal positions under the proposed control law.Based on the actual situation and Newton's law of mechanics,an object moves with acceleration under the action of force.For the second-order dynamical system,the control input of the mobile snesor is its acceleration.Therefore,it is more meaningful to study the coverage control for second-order mobile sensor networks.For second-order dynamical system,the velocity constraint will be a state saturation problem.Thus,the proposed control law not only needs to ensure that the mobile sensor can be deployed to the optimal location,but also to ensure that the speed of the mobile sensor is always bounded.The design of control law can be divided into two steps.First,a reasonable control law form is designed to satisfy the velocity constraints,and then a specific coverage control law is designed for completing the coverage task.Considering that the sensor's position may be staggered during the movement of the mobile sensor,the proposed order preservation control law can guarantee the order of mobile sensors in any time is same as the initial time.It is proved that the mobile sensors can be driven to the optimal positions under the proposed control law.