Study On Coverage Control Of Mobile Sensor Networks Based On Advection Cooperation

In recent years,wireless sensor networks have been widely applied to various fields with the development of sensing technologies,embedded system technologies,and networked control technologies.With the increasing coverage requirements of wireless sensor networks in applications such as environmental detection,disaster relief,and military applications,the coverage algorithm of wireless sensor networks has become one of the key research directions of various organizations.This paper will study the coverage algorithms of mobile sensor networks.Firstly,the kinematics and kinematics constraints of the mobile sensor nodes are introduced.Then the advection dynamics and its characteristics are studied.A coverage control algorithm based on advection coordination is proposed.On the premise of simplifying the kinematics and kinematics constraints of the mobile sensor nodes,a Simulink simulation platform for the position coverage of the mobile sensor network is established.In addition,a Simulink simulation platform for energy co-allocation of wireless sensor networks is established to verify the advection cooperative coverage control algorithm.Feasibility.On the premise of the kinematics and kinematic constraints of the mobile sensor nodes,this paper designs a advection cooperative coverage control system.The system is divided into three layers,namely,the environment awareness layer,the path planning layer,and the motion control layer.This paper focuses on path planning and motion control,assuming that the environmental conditions of the monitored area have been processed and the perceived model is assumed to be a Boolean model during the research process.The path planning of this paper is designed based on the advection cooperative coverage control algorithm,and the Runge-Kutta algorithm is used to solve the coordinates of the desired target point of the mobile sensor node.The mobile sensor node in this paper is a differentially driven model.In the motion control system,a motion controller is designed to convert the distance between the desired target point obtained by the path planning layer and the mobile sensor node to the expected forward speed and rotation speed of the mobile sensor node,translate into the left and right wheel speeds of the differential drive wheel.In addition,the relative positioning technology is used in this paper,and the navigation and projection are performed according to the working principle of the photoelectric encoder.As the continuous accumulation of the displacement,the position and orientation of the mobile sensor node are fed back to the controller by using the initial coordinates and direction of the relative movement sensor node.Finally,a Matlab simulation platform for the position coverage of the mobile sensor network is established.The mobile sensor network accomplishes the coverage configuration transformation efficiently according to different environmental conditions in the designed “back” region.In addition,this paper uses Turtlebot,personal portable computer and ZigBee module as experimental platform to develop advection cooperative coverage control function package and Zig Bee communication function package.The simulation and experimental results verify the feasibility of the advection cooperative coverage control algorithm in the cooperative coverage of mobile sensor networks.