A Cooperative Obstacle-avoidance Approach Research On Mobile Obstacle In Mobile Wireless Sensor Network

As a kind of special wireless sensor network, mobile wireless sensornetwork has an important role in economy, military and social benefits.The technology of target tracking plays an important part in mobilewireless sensor network; while obstacle-avoiding has already been a hottopic in the research of target tracking. However, the current methods ofobstacle avoiding have a low efficiency, most of which are for staticobstacles, but most of the obstacles are moving status in practicalapplication, therefore they can not meet the demand of actual application.Firstly, this paper makes a deep study of flocking control model, andthen put forward a method of collaborative obstacle-avoiding which facingWMSN node of the moving obstacle; this method bringing in the Steer toAvoid obstacle-avoiding rule based on the flocking control model andmaking the following improvement:(1)If the moving trend of obstacle isthe same with the direction judgment of Steer to avoid when avoidingobstacle, the nodes will move to the opposite direction of obstacle.(2)In order to predict the moving trends of the obstacle, such as the speed andthe location on the next time, the direction and the speed of the movingobstacle when changing direction should be set as an input to the model.At last, we makes a simulation on the method proposed in this paperbased on the method of clustering collaborative obstacle-avoidance inmobile wireless sensor network, and we also have done other experimentsabout the traditional tanner flocking control model and the collaborativeobstacle-avoiding method which based on static obstacle. The result ofsimulation shows that the method proposed in this paper has a significantimprovement on the average rate and time-efficiency comparing with thetraditional model, this method can apply to evade the moving obstacles inthe research of target tracking, and this model can evade all kinds ofconvex moving obstacles in theory.