摘要：

基于无线传感器网络的目标定位与跟踪技术是目前研究的热点,传统的目标跟踪算法均需要明确的目标定位系统观测模型,如无法获得该模型,则算法失效。为此,利用移动机器人客户端,提出一种分布式移动多目标定位和跟踪算法。该算法将所有机器人分为负责目标跟踪的领袖机器人与负责网络阵型和连接性维护的从属机器人,对收敛误差和系统参数间的关系进行分析,并通过仿真实验验证了该算法的有效性。

关键词: 无线传感器网络, 目标定位, 能量, 机器人, 收敛误差, 移动速度

Abstract:

Target localization and tracking technology is currently a hot issue in Wireless Sensor Network(WSN). Conventional target tracking algorithms always require an explicit system observation model of the target positions, which,however,would fail if such model is not available. This paper designs a distributed algorithm for the localization and pursuit of multiple mobile targets using mobile robot. By the proposed algorithm,all robots are categorized into two groups:the leaders,responsible for the target pursuit,and the followers,responsible for the formation and connectivity maintenance,and then the relation between convergence error and system parameter setting is analyzed theoretically. Simulation results show that the proposed target pursuit algorithm is proved to be able to achieve a controllable convergence error to the local maximum points,which depends on the moving speed and sampling rate of agents.

Key words: Wireless Sensor Network(WSN), target localization, energy, robot, convergence error, moving speed

中图分类号: 

• TP391