The Coverage Control Of The Mobile Sensor Network On The Circle

Mobile sensor networks have received extensive attention and research.In research on mobile sensor networks,coverage is one of the most important problems.This thesis mainly studies the coverage control of mobile sensor networks on a circle.The coverage task is to design a distributed coverage control law which drives the sensor node from the initial position on the circle to the optimal configuration,and the optimal configuration is define as the sensors’ positions which optimize the overall sensing performance of the sensor network.This thesis will focus on the coverage control for the mobile sensor network with first-order dynamic and second-order dynamic.In the research of coverage control for mobile sensor networks with first-order dynamics,this thesis first focuses on how to design coverage control laws to ensure that the sensor nodes do not collide with each other while considering the size of the sensor nodes,and at the same time the control laws should drive the sensor nodes to the optimal positions on the circle.For a heterogeneous sensor network,each sensor node has its own maximum velocity.Note that for mobile sensors with first-order dynamics,their control inputs also indicate the velocities of the sensors.Therefore,the coverage control law also should ensure that the control input of each sensor less than its maximum speed.In the above work,the initial position of each sensor node is assumed to be on the circle.But in many practical applications,the sensor nodes are not deployed on the circle initially.Consequently,this thesis focuses on how to design a control law with speed constraint to make each sensor node move to a given circle.Similarly,the control laws should guarantee the sensors avoid collision with each other taking into consideration the size of the sensor nodes.Compared with the coverage control for mobile sensors with first-order dynamics,the mobile sensors with second-order dynamics is more realistic because its control inputs also denote the acceleration.Therefore,based on the above research,this thesis further studies the coverage control for mobile sensors with second-order dynamics,and mainly focuses on how to drive the sensor network to the optimal configuration taking into consideration the speed constraints of the mobile sensors.