传感器网络覆盖控制问题研究
本文选题:移动传感器网络 + 覆盖控制 ; 参考:《北京理工大学》2016年博士论文
【摘要】:覆盖控制技术是移动传感器网络的关键技术之一。合理的覆盖控制策略可以提升网络的服务质量,优化网络整体能量的使用效率,优化网络的拓扑结构。因此,研究传感器网络的覆盖控制技术具有重要的理论意义和实践价值。本文针对移动传感器网络覆盖问题进行了深入的探讨,以增大覆盖率,消除覆盖空洞以及延长网络生命周期为目标对多种类型的传感器网络进行了深入研究。首先,本文对二维空间中的同构传感器网络和异构传感器网络的覆盖控制问题的相关算法进行了分析。针对二维同构传感器网络覆盖控制中存在的高通节点汇聚问题和移动能耗不均匀问题,本文提出了能量平衡的扩展虚拟力覆盖控制算法。算法通过加入邻居节点选择策略解决了高通网络在覆盖控制中容易出现的节点聚集问题。算法中还引入了网络节点移动的能量消耗平衡策略,该策略可以保护网络中小能量节点的能量,使覆盖过程中节点能量消耗更加均衡。由于异构的传感器网络中节点感知能力不同,因此在异构传感器网络中不存在一个理想距离。传统覆盖控制算法并不适合异构网络。针对异构网络情况下传感器网络拓扑结构的特点,本文提出了用逻辑拓扑来代替物理拓扑以避免高通信半径情况下节点的汇聚问题。在探究了异构情况下覆盖控制网络的理想结构的基础上,提出了使用角度控制的方法来减小覆盖的空洞和冗余。结合异构网络的性质,提出了节点分级的思路来保护异构网络中一些关键节点的能量。综合上述三点给出了用于异构网络的扩展虚拟力覆盖控制算法,仿真结果表明算法针对异构网络能够起到很好的覆盖控制效果,且对网络总体的能量平衡和重要节点的能量保护这两方面都有很好的效果。搭建了覆盖控制虚拟演示平台来更加直观的展示覆盖过程,方便后续研究。本文在二维平面覆盖控制算法研究成果的基础上,将研究的内容扩展到了三维空间。与传统二维平面网络相比,三维空间传感器网络拥有更强的移动性能。节点监控的区域扩展成三维空间的球形,拓扑结构更加复杂。本文针对三维空间传感器网络的特点对其相关模型进行了拓展,并结合前面关于能量平衡的研究成果和三维空间各方向移动耗能不同的性质提出了适用于三维空间的扩展虚拟力覆盖控制算法。算法可以通过控制向多耗能方向的移动距离来节约节点能量消耗,在达到良好覆盖效果的同时,平衡网络中节点的能耗。最后,搭建了传感器网络覆盖实验平台。包括移动机器人和球形飞行器实验平台的设计与搭建。移动机器人实验平台主要用于验证提出的适用于二维平面同构/异构移动传感器网络覆盖控制算法的有效性。球形飞行器平台,可以为后续研究中对三维空间覆盖算法的效果进行验证。
[Abstract]:Coverage control technology is one of the key technologies in mobile sensor networks. Reasonable coverage control strategy can improve the quality of service, optimize the overall energy efficiency of the network, and optimize the topology of the network. Therefore, it is of great theoretical and practical value to study the coverage control technology of sensor networks. In this paper, the coverage of mobile sensor networks (MSN) is discussed in depth. In order to increase coverage, eliminate coverage voids and prolong network life cycle, various types of sensor networks are studied deeply. Firstly, this paper analyzes the coverage control algorithms of isomorphic sensor networks and heterogeneous sensor networks in two-dimensional space. Aiming at the problem of high pass node convergence and uneven mobile energy consumption in coverage control of two-dimensional isomorphic sensor networks, an extended virtual force coverage control algorithm based on energy balance is proposed in this paper. The algorithm solves the problem of node aggregation in overlay control by adding neighbor node selection strategy. The algorithm also introduces the energy consumption balance strategy of network node movement which can protect the energy of small and medium energy nodes in the network and make the energy consumption of nodes more balanced in the process of coverage. There is no ideal distance in heterogeneous sensor networks because of the different perception of nodes in heterogeneous sensor networks. The traditional overlay control algorithm is not suitable for heterogeneous networks. According to the characteristics of sensor network topology in heterogeneous networks, this paper proposes a logical topology instead of physical topology to avoid the convergence of nodes in the case of high communication radius. On the basis of exploring the ideal structure of overlay control network in heterogeneous environment, an angle control method is proposed to reduce the void and redundancy of overlay. Combined with the nature of heterogeneous networks, the idea of node classification is proposed to protect the energy of some key nodes in heterogeneous networks. Based on the above three points, an extended virtual force coverage control algorithm for heterogeneous networks is presented. The simulation results show that the algorithm can achieve a good coverage control effect for heterogeneous networks. And it has a good effect on the energy balance of the network and the energy protection of important nodes. The virtual demonstration platform of overlay control is built to show the overlay process more intuitively. In this paper, based on the research results of two-dimensional plane coverage control algorithm, the content of the study is extended to three dimensional space. Compared with traditional two-dimensional planar networks, three-dimensional space sensor networks have stronger mobility performance. The area monitored by nodes expands into a sphere of three-dimensional space, and the topology is more complex. According to the characteristics of 3D spatial sensor networks, the related models are extended in this paper. Combined with the previous research on energy balance and the different properties of moving energy consumption in three dimensional space, an extended virtual force coverage control algorithm for 3D space is proposed. The algorithm can reduce the energy consumption of nodes by controlling the moving distance in the direction of multiple energy consumption, and balance the energy consumption of nodes in the network while achieving a good coverage effect. Finally, the experiment platform of sensor network coverage is built. Including the design and construction of mobile robot and spherical aircraft experimental platform. The mobile robot experimental platform is mainly used to verify the effectiveness of the proposed coverage control algorithm for two-dimensional planar isomorphic / heterogeneous mobile sensor networks. The spherical aircraft platform can be used to verify the effect of the three-dimensional space coverage algorithm in the following research.
【学位授予单位】:北京理工大学
【学位级别】:博士
【学位授予年份】:2016
【分类号】:TP212.9
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