CN104202793A - Obstacle avoidance method by adopting connected graph in mixed wireless sensor network - Google Patents
Obstacle avoidance method by adopting connected graph in mixed wireless sensor network Download PDFInfo
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- CN104202793A CN104202793A CN201410505725.6A CN201410505725A CN104202793A CN 104202793 A CN104202793 A CN 104202793A CN 201410505725 A CN201410505725 A CN 201410505725A CN 104202793 A CN104202793 A CN 104202793A
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Abstract
The invention belongs to the field of the dispatching technologies of dynamic sensors in a mixed wireless sensor network and particularly relates to an obstacle avoidance dispatching method in the mixed wireless sensor network. The technical scheme is as follows: firstly, a network system is subjected to grid processing, and the whole network area is divided into grid cells with the equal sizes; secondly, barriers are subjected to normalizing processing to enable the shapes of the barriers to be formal polygons so as to be subjected to further processing; finally, on the basis, method based on connected graphs is adopted, longitudinal and horizontal lines are marked along the side boundaries of the barriers respectively, the longitudinal and horizontal lines are further marked in the starting positions and the target positions of the dynamic sensors, the searching space of the dynamic sensors is narrowed, and the efficiency is improved. According to the invention, the obstacle avoidance dispatching method solves the dispatching problem of the dynamic sensors in the mixed wireless sensor network with the barriers existing, so that the life cycle of the network system is prolonged.
Description
Technical field:
The present invention relates to exist the barrier problem of keeping away in the hybrid wireless sensor network of barrier, belong to the dispatching technique field of dynamic pickup in hybrid wireless sensor network.
Background technology:
In hybrid wireless sensing network, there is dynamic pickup and static sensor, the information of static sensor perception target area, and these information are outwards transmitted, function is more single.Dynamic pickup feeds back the result of coming according to static sensor, move to objective area and carry out more deep analysis, then processes accordingly.Due to the progress of energy capture technology, suppose the life cycle long enough of static sensor here, how problem is just summed up as efficient scheduling dynamic pickup like this, and makes the life cycle of whole network system the longest.Therefore, the life cycle of whole network system is determined by dynamic pickup node energy.Conventionally as long as there is a situation that dynamic pickup node energy exhausts, mean the end of whole network system life cycle.So the travel routes of rational management dynamic pickup is particularly crucial.The current scheduling about dynamic pickup is studied all based on such prerequisite: in wireless sensor network overlay area, there is no barrier.And in actual applied environment, such hypothesis is seldom set up, can there is barrier more or less.
The art of this patent can rational management dynamic pickup be avoided the barrier of arbitrary size and size in network system, finds shortest path, thereby arrive target area, the life cycle of having improved network system with the method for full blast.
Summary of the invention:
In order to solve in the network area that has barrier, the scheduling problem of dynamic pickup, the invention provides the barrier-avoiding method in a kind of hybrid wireless sensor network that adopts connected graph.
The technical scheme that patent of the present invention adopts is as follows:
(1) gridding processing is carried out in network area.Whole like this network area is divided into big or small grid cell, and grid cell just becomes equal-sized square like this.There is a convergent point position in each grid cell, in this position, can collect the information of all the sensors in grid cell.Convergent point position is generally positioned at the center of grid cell, is convenient to like this collect the information of all the sensors in grid cell.
(2) barrier is carried out to standardization processing.Process by these, the profile of barrier has just become more regular polygon, conveniently keeps away barrier research.Obviously the edge zone of barrier can be crossing with grid cell, may only take part grid cell.Once grid cell is partly taken, think that this grid cell is barrier, barrier has just become more regular figure like this.Dynamic pickup has larger communication radius on the other hand, even if a certain induction region incorporates into as barrier, but information still can be obtained by dynamic pickup.
(3) adopt the method based on connected graph, dynamic pickup is dispatched.Co-ordination is done respectively in sideline along barrier, and co-ordination is also done in starting position and target location to dynamic pickup.The set that these co-ordinations form has formed strongly connected graph, solves the shortest mobile route of dynamic pickup on this connected graph.Therefore the search volume of dynamic pickup narrows down to connected graph less space like this from whole network area larger space, has simplified solving of problem.
Patent of the present invention has solved sensor region and may exist the barrier of arbitrary size and size, the scheduling problem of dynamic pickup, the life cycle of having improved whole network system.
Brief description of the drawings:
Accompanying drawing 1 is the algorithm flow chart of the barrier-avoiding method in the hybrid wireless sensor network for adopting connected graph.
Accompanying drawing 2 is that Bian the art of this patent is kept away barrier scheduling result after treatment for example.
In accompanying drawing 2, S is the original position of dynamic pickup, and T is the target location of scheduling, and black graphics is barrier, and the direction of arrow is scheduling path.
Embodiment:
Below by concrete enforcement, technical scheme of the present invention is further described.
(1) first gridding processing is carried out in network area.The grid cell of dividing is square, and the length of side of supposing grid cell is gSide, and grid cell is also the base unit that dynamic pickup carries out collecting and processing of information.There is a convergent point position in each grid cell, dynamic pickup, in this position, can be collected the information of all static sensors in grid cell.Convergent point position is generally positioned at the center of grid cell, is convenient to like this information of all the sensors in dynamic pickup collection grid cell.GSide of the present invention is chosen as the minimum Moving Unit of dynamic pickup.
(2) processing of barrier.Whole network area is carried out after gridding processing, and barrier can take some grid cell positions, in the edge zone of barrier, generally can take part grid cell position.A grid cell is taken by barrier part, and this grid cell just incorporates into as barrier.Whole like this Obstacle Position just becomes more regular figure, is convenient to like this processing to problem, and dynamic pickup has larger communication radius on the other hand, even if a certain induction region incorporates into as barrier, but information still can be obtained by dynamic pickup.
(3) the shortest path first method based on connected graph.In the strongly connected graph that the co-ordination of mentioning in technical scheme forms, solve the shortest mobile route of dynamic pickup.According to the feature of Manhattan distance, this connected graph must contain shortest path.Algorithm creates two set CANDIDATES and VISITED at the beginning.Set CANDIDATES represents the grid on candidate's moving direction of dynamic pickup.Set VISITED represents the grid on the actual moving direction of dynamic pickup.While just beginning, set VISITED is initialized as empty set.One-dimension array DL[i] in deposit the length of the shortest path from source node S to node i, one-dimension array PRED[i] deposit on the current shortest path from source node S to node i the previous node of node i.Utilize depth-first algorithm, final VISITED deposits the set from source node S to destination node T shortest path in the inside, thereby obtains the shortest barrier path of keeping away of dynamic pickup.
Be more than preferred embodiment of the present invention, not the present invention done to any pro forma restriction, every foundation technical spirit of the present invention, to any simple modification made for any of the above embodiments, equivalent variations and modification, all belongs in the scope of invention technical scheme.
Claims (3)
1. the present invention relates to the barrier-avoiding method in a kind of hybrid wireless sensor network that adopts connected graph, it is characterized in that, on the basis of network area gridding and barrier standardization processing, adopt the method for connected graph to dispatch the dynamic pickup in hybrid wireless sensor network, avoided the barrier in network area.
2. the barrier-avoiding method in a kind of hybrid wireless sensor network that adopts connected graph according to claim 1, is characterized in that, gridding processing is carried out in whole network area, and network area is divided into the foursquare grid cell that size is identical; The position of dynamic pickup and target area, except the grid cell that barrier takies, can be positioned at other arbitrary mess unit.
3. the barrier-avoiding method in a kind of hybrid wireless sensor network that adopts connected graph according to claim 1, is characterized in that, barrier is carried out to standardization processing, and the profile of whole barrier has just become regular polygon; On this basis, adopt the method for connected graph, dynamic pickup is dispatched, thereby arrive target area.
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Cited By (1)
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