Topology Optimization And Coverage Control For Mobile Wireless Sensor Network

With the development of sensor and robot, sensor, and computer technologies, mobilesensor networks have attracted more and more attention. Compared with the static sensornetworks, mobile sensor networks have strong maneuverability, higher coveringredundancy and efficiency, and are more suitable to large area monitoring. By applying thetopology optimization based on optimally persistent graph in this paper, communicationcost of mobile sensor networks can be reduced while keeping the connectivity. In thisthesis, some controllers are presented for multi-agent systems to achieve coverage with theoptimally persistent topology structures.Firstly, the algorithm for optimally persistent formation generation is studied, whichcan be used to simplify the topology structure of mobile sensor networks and to reduce thenetwork communication cost. According to the Hennerberg sequence theory, the verticesof the optimally rigid graphs are firstly classified by1,2, and3degrees respectively. Bymaking the edges linking to the vertices of the1，2，3degrees in the optimal rigidity figureinto directed edges and increasing the operation of the path reversal, the arbitrary optimalrigidity figure can be turned to optimally persistent graphs. Finally, some simulations areused to demonstrate the effectiveness of the proposed results.Secondly, combining with the algorithm of optimal persistent formation generationproposed above,1-coverage seamless sensor network is investigated. A high efficiency1-coverage seamless sensor network is prsented. Then to achieve the seamless coverage, aquadrilateral formation controller is designed for the mobile sensor network. Moreover, toreduce the communication cost between sensors, the algorithm of optimal persistentformation generation is used to design controllers, where only neighboring information isused. Finally, some simulations are used to verify the effectiveness of the proposedalgorithm.At last,2-coverage seamless sensor network is studied to increase the fault toleranceand robustness of mobile sensor networks. Through arranging the sensors, the2-coverageseamless sensor network can be achieved. A sleeping strategy is added, which can reduce the communication cost and prolong the network life based on2-coverage sensor network.Furthermore, potential-based controllers are designed for the motion control. It is shownthat2-coverage seamless covering can be achieved for the mobile sensor networks underthe proposed controllers while avoiding obstable collision. Some simulations are used toverify the effectiveness of the proposed algorithm.