Research On Pursuer-Evader Tracking Problem Using WSN

Wireless sensor network (WSN) consists of a large number of tiny sensor nodes, endowed with physical sensing capabilities, limited processing and memory, and short-range radio communication. The emergence of WSN brings out a new form of information collecting and processing.Pursuer-evader tracking (PET) problem is an important application in WSN, in which a pursuer aims to capture a target with the aid of WSN. This problem comprises the following two sub-problems:(1)a set of sensor nodes acquire local target information through detection and collaborative computation;(2)the pursuer chooses the optimum chasing scheme to finish the capturing task with the aid of WSN.Methods that utilize the received target signal energy for target localization and tracking in WSN are often adopted. These methods are robust and have high localization precision, which can be used for target localization and tracking in noise sensing environments. However they ignore errors caused by outlying sensor readings in target localization process. In this paper, the gaussian mixture models (GMMs) are used to describe the statistical characteristics of the target signals distributed in wireless sensor networks, and the mean shift algorithm is used to localize the target position. The simulation results show that the target location can be estimated accurately with our method even when lots of outlying sensor readings exist in sensor networks. More robustness can be achieved in our method, compared with others.Currently, there has been several works on PET problem using WSN, which followed an evader-centric approach by taking into account the dynamics of the pursuer and the limitations of WSN, but ignored the dynamics of the pursuer. However, our work takes into account the dynamics of both the pursuer and evader as well as the limitations of WSN, solves the PET problem through exploiting the geometry and provides an optimal capturing strategy for the pursuer. For the purpose of minimizing the communication overhead while ensuring capture, we devise an adaptive message sending rate scheme and a reliable routing protocol GAF-AODV.What's more, we devise related simulation experiments based on TrueTime toolbox in Matlab/Simulink to test algorithms and schemes advanced in this paper.