| Wireless sensor network (WSN) is a multiple hops self-organizing network which is consist of a large numbers of tiny sensor nodes deploying in monitoring area and communicating with each other through wireless communication. In the process of forming ad-hoc network, location information is one of the most important data in the system. As the result, it is essential to position and track the mobile nodes in WSN. During the development of Computer graphics, hardware technology and simulation technology, it has become a reality to simulate movement in the real world using computer. In the process of moving, how to confirm the location information in time and avoid collisions efficiently with the rest of the mobile nodes are the difficult points in Graphics, Fluid kinematics, Mechanical analysis and some other disciplines. During the collision detection on multi-target mobile nodes in WSN, the detection between moving objects and obstacles is the basis of motion planning and collision avoidance, and the further requirements are how to deal with obstacle avoidance at the same time. To solve this problem, it has proposed a collision detection algorithm based on Space Occupancy Method and in combination with kalman filter algorithm and path vector method. After obtain the coordinates of mobile nodes using Ultrasonic trilateral positioning method, this collision detection algorithm solved how to detect collision in order to avoid crash and control of mobile nodes more efficiently. Furthermore, this algorithm makes it possible for multiple target mobile nodes to avoid collision in the dense space at the same time and the same position. The experiments show that path vector method combine with bounding box method use a smaller anticipation area so as to take up less system resources, so it has a higher accuracy and better robustness. The algorithm using in the wireless sensor network node control system is aim to locate the mobile node, track the mobile node and detect collision. |
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