CN102420733A - Method for realizing group aggregation formation in sensing network - Google Patents

Abstract

The invention relates to a method for realizing group aggregation formation in a sensing network. The method comprises the following steps that: each sensor node acquires the local node distribution density information of an own area; nodes are selected in a high-density distribution area of sensors, and a high-speed operating mode is started; each sensor node sends gathering information to other sensor nodes in an own effective communication area, informs the sensor nodes of the own position, and asks other sensor nodes to approach to the sensor node; each sensor receives a plurality of pieces of gathering information and a plurality of speed vectors of other sensors of which effective communication ranges can cover the sensor, and each vector is subjected to vector summation to obtain the speed vector of the own next motion; and according to the obtained speed vector, each sensor node performs evolution movement to finally realize the whole aggregation of a sensor node system. By adoption of the method, the aggregation formation behavior of the sensor nodes can be realized under the high-efficiency control, and the energy consumption during long-distance communication and aggregation is remarkably reduced.

Description

Realize the method that colony's gathering is formed into columns in a kind of sensing net

Technical field

The invention belongs to group behavior control technology field, particularly relate to the method that realizes in a kind of sensing net that colony's gathering is formed into columns.

Background technology

Colony assembles formation control problem and is meant one by a large amount of autonomous individual set of forming, and under the situation of no centralized control and world model, local perception effect and corresponding reflex action through individuality make integral body demonstrate the behavior of converging.This control technology all has crucial application in a lot of fields, and for example, in the formation of unmanned vehicle control and people make earnest efforts at present the activities such as field exploration, reliable reasonably the assurance individually can gather finally that to form into columns be very crucial.

The prototype of formation control technology is assembled by colony can trace back to the Reynolds model; Afterwards; On the Reynolds model based; Tanner utilizes potential field method and mechanical analysis skill, the motion control of trooping of the intelligent group of having considered to have the undirected network of fixing and dynamic topology, and utilize algebraic graph theory and non-flat analysis tool to provide the stability analysis of algorithm.Olfati-Saber and Murray have proposed the motion control arithmetic of trooping of undirected handover network based on structural energy function and consistency protocol, and have discussed and kept away barrier and tracking problem.Gazi and Passio have proposed a kind of effective A/R (attractive or repulsive) model, and this model has two basic principles: attract each other between (1) remote individuality; (2) closely repel each other between individuality.After 1 year, Gazi and Passion improve on original model again and have introduced the 3rd basic principle, promptly exist sucking action that points to the range of profitability direction and the repulsive interaction of pointing to unfavorable region direction.

But these present widely used controlling models have all been ignored the regulating action of individual distribution density for its control, yet this regulating action is very important and significant in some occasions.Traditional colony assembles in the control mode; Interaction between two individuals be equity each other near or the action that deviates from, the communication between the individuality also is the mode of two-way communication, this working method makes all individualities all will carry out the communication and the motion of long relatively distance; And long haul communication and motion mean the consumption of energy; In some occasions, particularly be the occasion of the needs great attention overall power consumption of example with the sensor network, be more inapplicable.

For satisfying the requirement for height that sensor network is practiced thrift for integral energy, need a kind of novel regulatory mechanism to realize the gathering formation behavior of sensor node.This regulatory mechanism need guarantee can effectively assemble when sensor node needs, the consumption of energy in the time of can effectively controlling long haul communication simultaneously.Proposition of the present invention is exactly in order to address this problem; Unmanned vehicle formation problem to have removable sensor node is an example; Use the mode of operation method of adjustment that relates among the present invention based on colony's gathering formation control technology; Can self adaptation the one-way communication and the two-way communication mode of regulation and control node; Aircraft is tended to high density aircraft region clustering, help isolated on a small quantity aircraft and draw close, help the saving of integral energy and assemble the formation of forming into columns to high density aircraft zone.Be example with the field exploration campaign again; When the exploration team that disperses need assemble, assemble the adjustable portable sensor node of control technology mode of operation through carrying based on colony, can help the team member to draw close to team; Realize the set of team, also can practice thrift the energy of team's transducer simultaneously.

Summary of the invention

Technical problem to be solved by this invention provides in a kind of sensing net and to realize that colony assembles the method for forming into columns, and can control the gathering formation behavior that realizes sensor node efficiently, and significantly reduces long haul communication and the energy consumption when assembling.

The technical solution adopted for the present invention to solve the technical problems is: the method that realizes in a kind of sensing net that colony's gathering is formed into columns is provided, comprises the following steps:

(1) each sensor node obtains the local nodes distribution density information of self region;

(2) choose node in transducer high density distributed areas, open the high speed mode of operation, to strengthen its communication capacity;

(3) each sensor node sends accumulated information to other sensor node in self efficient communication zone, and them are informed in the position of self, and require they to own near; Regulate and control the node motion state simultaneously, when promoting to assemble motion, avoid collision each other between sensor node;

At this moment, the sensor node of not opening the high speed pattern uses common low-speed mode, and its efficient communication zone is less; The sensor node mode of operation of opening the high speed pattern is regulated by environment node distribution density of living in;

(4) each transducer can receive a plurality of efficient communication scopes can cover oneself other transducer converge message and velocity; Each vector makes to obtain after vector is sued for peace the velocity of own next step motion, and the sphere of action of proximity sense can cover the high speed mode of operation sensor node of this transducer;

(5) according to the velocity that obtains, each sensor node develops and moves, and realizes that finally the integral body of sensor node system is assembled;

In the described step (1); The local nodes distribution density information that sensor node obtains self region adopts following method: other transducer numbers around the sensor node detecting self in certain zone, and as the transducer distribution density information of self environment of living in.

In the described step (2); Launch the sensor node of high speed mode of operation and choose the following method that adopts: set density threshold; If the density information that sensor node is obtained in step 1 surpasses predetermined threshold value; Then think to be in high-density region, each high density area domain node regularly adopts the mode of competition to select a node and opens the high speed mode of operation, and the sensor node of having opened the high speed pattern no longer participates in the competition.

In the described step (3), the relation in node distribution density and efficient communication zone adopts following method to judge:

Wherein, R _iBe the efficient communication scope of sensor node i, ρ _iIt is the density information that node i is obtained in step 1.

In the described step (3), the motion state adjustment scheme of node adopts based on the colony of node density distributed intelligence assembles control algolithm as preferred version, for: $\left\{\begin{array}{c}{\stackrel{\·}{r}}_i=v_i\\ {\stackrel{\·}{v}}_i=\underset{j=1}{\overset{N}{\mathrm{\Σ}}}{f}_{\mathrm{Ij}}\left(x_{\mathrm{Ij}}\right)\end{array}\right.i=\mathrm{1,2},...,N$ R wherein _iBe the position of sensor node, v _iBe the speed of sensor node, f _IjIt is the effect of the converging equation that sensor node receives other sensor node; x _IjIt is the distance between sensor node i and the sensor node j; α through the node distribution density and and other nodes between distance regulation and control attract and repulsive interaction; Equilibrium distance after β assembles through density information regulation and control sensor node is formed into columns thereby form, and equation does

$f_{\mathrm{ij}}\left(x_{\mathrm{ij}}\right)=\mathrm{\α}\·G-(1-\mathrm{\α})\·\mathrm{\β}\·G$

$G=\frac{{\mathrm{K\ρ}}_i{\mathrm{\ρ}}_j}{{(x_{\mathrm{ij}}+b)}^2};$ $\mathrm{\α}=\frac{x_{\mathrm{ij}}}{\sqrt{{\mathrm{\ρ}}_j}};$ $\mathrm{\β}=\frac{1}{{\mathrm{\ρ}}_j}.$

Beneficial effect

The present invention's prior art of comparing possesses following beneficial effect:

(1) controls the gathering formation behavior of sensor node efficiently, assemble the formation control algolithm,, compare, greatly reducing communication and expending with pure wide area two-way communication with the single-direction and dual-direction communication mode of introducing adaptive control based on the colony of node density distributed intelligence;

(2) promote the scheme that the encouragement node converges to relative aggregation node crowd, can reduce intelligent body relatively and assemble the required total path of motion, help reducing the motion expense;

When (3) the relative majority node is in the short haul connection mode of low energy consumption in guaranteeing the high density node region; Introduce part of nodes and open the high speed pattern, strengthen communication capacity, the issue Wide-area Measurement Information; Effectively promote the formation that intelligent body is formed into columns, avoid the generation of division phenomenon in the accumulation process.

Description of drawings

Fig. 1 is the sketch map that the present invention is based on the node density distributed intelligence;

Fig. 2 is a FB(flow block) of the present invention;

1. the sensor node A 2. that is in high-density region is in the sensor node B of density regions

The external positive radius of communication of external positive radius of communication R (B) the expression transducer B of R (A) expression sensors A

R representes sensor density perception radius

Embodiment

Below in conjunction with specific embodiment, further set forth the present invention.Should be understood that these embodiment only to be used to the present invention is described and be not used in the restriction scope of the present invention.Should be understood that in addition those skilled in the art can do various changes or modification to the present invention after the content of having read the present invention's instruction, these equivalent form of values fall within the application's appended claims institute restricted portion equally.

Like Fig. 1, shown in Figure 2, realize the method that colony's gathering is formed into columns in a kind of sensing net of the present invention, comprise the following steps:

(1) each sensor node obtains the local nodes distribution density information of self region;

(2) choose node in transducer high density distributed areas, open the high speed mode of operation, to strengthen its communication capacity;

(3) each sensor node sends accumulated information to other sensor node in self efficient communication zone, and them are informed in the position of self, and require they to own near; Regulate and control the node motion state simultaneously, when promoting to assemble motion, avoid collision each other between sensor node;

At this moment, the sensor node of not opening the high speed pattern uses common low-speed mode, and its efficient communication zone is less; The sensor node mode of operation of opening the high speed pattern is regulated by environment node distribution density of living in;

(4) each transducer can receive a plurality of efficient communication scopes can cover oneself other transducer converge message and velocity; Each vector makes to obtain after vector is sued for peace the velocity of own next step motion, and the sphere of action of proximity sense can cover the high speed mode of operation sensor node of this transducer;

(5) according to the velocity that obtains, each sensor node develops and moves, and realizes that finally the integral body of sensor node system is assembled;

In the described step (1); The local nodes distribution density information that sensor node obtains self region adopts following method: other transducer numbers around the sensor node detecting self in certain zone, and as the transducer distribution density information of self environment of living in.

In the described step (2); Launch the sensor node of high speed mode of operation and choose the following method that adopts: set density threshold; If the density information that sensor node is obtained in step 1 surpasses predetermined threshold value; Then think to be in high-density region, each high density area domain node regularly adopts the mode of competition to select a node and opens the high speed mode of operation, and the sensor node of having opened the high speed pattern no longer participates in the competition.

In the described step (3), the relation in node distribution density and efficient communication zone adopts following method to judge:

Wherein, R _iBe the efficient communication scope of sensor node i, ρ _iIt is the density information that node i is obtained in step 1.

In the described step (3), the motion state adjustment scheme of node adopts based on the colony of node density distributed intelligence assembles control algolithm as preferred version, for: $\left\{\begin{array}{c}{\stackrel{\·}{r}}_i=v_i\\ {\stackrel{\·}{v}}_i=\underset{j=1}{\overset{N}{\mathrm{\Σ}}}{f}_{\mathrm{Ij}}\left(x_{\mathrm{Ij}}\right)\end{array}\right.i=\mathrm{1,2},...,N$ R wherein _iBe the position of sensor node, v _iBe the speed of sensor node, f _IjIt is the effect of the converging equation that sensor node receives other sensor node; x _IjIt is the distance between sensor node i and the sensor node j; α through the node distribution density and and other nodes between distance regulation and control attract and repulsive interaction; Equilibrium distance after β assembles through density information regulation and control sensor node is formed into columns thereby form, and equation does

$f_{\mathrm{ij}}\left(x_{\mathrm{ij}}\right)=\mathrm{\α}\·G-(1-\mathrm{\α})\·\mathrm{\β}\·G$

$G=\frac{{\mathrm{K\ρ}}_i{\mathrm{\ρ}}_j}{{(x_{\mathrm{ij}}+b)}^2};$ $\mathrm{\α}=\frac{x_{\mathrm{ij}}}{\sqrt{{\mathrm{\ρ}}_j}};$ $\mathrm{\β}=\frac{1}{{\mathrm{\ρ}}_j}.$

As shown in Figure 1, two sensor nodes of A and B are in high density distributed areas and low-density distributed areas respectively, and like step 1,2 said, A is selected and opens the high speed mode of operation, and B uses normal mode of operation.Of step 3, sensors A has bigger communication range, and transducer B has limited communication range, thus one-way communication between A and the B, and B can receive the gathering information of A, and A can not receive the gathering information of B.Like step 3,4,5 said, B can assemble to high-density region, finally accomplishes colony and assembles and form into columns.Between A and the B, because the difference of transducer distribution density has been introduced local one-way communication, this communication mode is compared with two-way communication, has saved the traffic.Simultaneously, total motion distance of the system that all the sensors constitutes is similar to and equals the air line distance of B to A, does not need all intelligent body associated movements, has saved the motion expense of whole system.

As shown in Figure 2, realize 100 gatherings formation that are randomly dispersed in the sensor node of (circle with radius 10m is an example as the random distribution zone) in the space through method of the present invention.At first, each sensor node calculates other number of sensors in self neighborhood (oneself to be the center, the circle of radius 1m) separately, obtains the transducer distribution density information of self environment of living in.With 4 as density threshold, the sensor node density distribution information that all the sensors node detection oneself obtained in a last step, this information is greater than 4 node such as the said unlatching high speed of step 2 mode of operation.Of step 3; The sensor node of not opening the high speed pattern uses common low-speed mode; Its communication range little (as the center, radius is the circle of 2m with certainly) is opened sensor node such as the step 3 and the said definite communication range of claim 4 of high speed pattern; The minimal communications scope is that radius is the circle of 2m, and the maximum communication scope is that radius is the circle of 10m.Each sensor node other node in own efficient communication zone sends and converges message, and them are informed in the position of self, and require they to own near.Of step 3 and claim 4, each sensor node draws next step velocity of oneself according to the message of receiving that converges.Like step 4,5 said, sensor node colony does the motion of developing, and realizes that finally the gathering of 100 sensor nodes is formed into columns.

Claims (5)

1. realize the method that colony's gathering is formed into columns in a sensing net, it is characterized in that, comprise the following steps:

(1) each sensor node obtains the local nodes distribution density information of self region;

(2) choose node in transducer high density distributed areas, open the high speed mode of operation, strengthen its communication capacity;

(3) each sensor node sends accumulated information to other sensor node in self efficient communication zone, and them are informed in the position of self, and require they to own near; Regulate and control the node motion state simultaneously, when promoting to assemble motion, avoid collision each other between sensor node; The sensor node of not opening the high speed pattern uses common low-speed mode, and its efficient communication zone is less; The sensor node mode of operation of opening the high speed pattern is regulated by environment node distribution density of living in;

(4) each transducer can receive a plurality of efficient communication scopes can cover oneself other transducer converge message and velocity; Each vector makes to obtain after vector is sued for peace the velocity of own next step motion, and the sphere of action of proximity sense can cover the high speed mode of operation sensor node of this transducer;

(5) according to the velocity that obtains, each sensor node develops and moves, and realizes that finally the integral body of sensor node system is assembled.

2. realize the method that colony's gathering is formed into columns in a kind of sensing net as claimed in claim 1; It is characterized in that: in the described step (1); The local nodes distribution density information that sensor node obtains self region adopts following method: other transducer numbers in the sensor node detecting self peripheral region, and as the transducer distribution density information of self environment of living in.

3. realize the method that colony's gathering is formed into columns in a kind of sensing net as claimed in claim 1; It is characterized in that: in the described step (2); Launch the sensor node of high speed mode of operation and choose the following method that adopts: set density threshold; If the density information that sensor node is obtained in step (1) surpasses predetermined threshold value; Then think to be in high-density region, each high density area domain node regularly adopts the mode of competition to select a node and opens the high speed mode of operation, and the sensor node of having opened the high speed pattern no longer participates in the competition.

4. realize the method that colony's gathering is formed into columns in a kind of sensing net as claimed in claim 1, it is characterized in that: in the described step (3), the relation in node distribution density and efficient communication zone adopts following method to judge:

Wherein, R _iBe the efficient communication scope of sensor node i, ρ _iIt is the density information that node i is obtained in step 1.

5. realize the method that colony's gathering is formed into columns in a kind of sensing net as claimed in claim 1; It is characterized in that: in the described step (3); The motion state adjustment scheme of node adopts based on the colony of node density distributed intelligence assembles control algolithm as preferred version, for: $\left\{\begin{array}{c}{\stackrel{\·}{r}}_i=v_i\\ {\stackrel{\·}{v}}_i=\underset{j=1}{\overset{N}{\mathrm{\Σ}}}{f}_{\mathrm{Ij}}\left(x_{\mathrm{Ij}}\right)\end{array}\right.i=\mathrm{1,2},...,N$ R wherein _iBe the position of sensor node, v _iBe the speed of sensor node, f _IjIt is the effect of the converging equation that sensor node receives other sensor node; x _IjIt is the distance between sensor node i and the sensor node j; α through the node distribution density and and other nodes between distance regulation and control attract and repulsive interaction; Equilibrium distance after β assembles through density information regulation and control sensor node is formed into columns thereby form, and equation does

$f_{\mathrm{ij}}\left(x_{\mathrm{ij}}\right)=\mathrm{\α}\·G-(1-\mathrm{\α})\·\mathrm{\β}\·G$

$G=\frac{{\mathrm{K\ρ}}_i{\mathrm{\ρ}}_j}{{(x_{\mathrm{ij}}+b)}^2};$ $\mathrm{\α}=\frac{x_{\mathrm{ij}}}{\sqrt{{\mathrm{\ρ}}_j}};$ $\mathrm{\β}=\frac{1}{{\mathrm{\ρ}}_j}.$

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