Improved Distributed Coverage Control for Robotic Visual Sensor Network under Limited Energy Storage
Improved Distributed Coverage Control for Robotic Visual Sensor Network under Limited Energy Storage
复制标题
DOI：
--
复制
发表时间：
2013-01
期刊：
影响因子：
--
通讯作者：
Azwirman Gusrialdi;R. Dirza;T. Hatanaka;M. Fujita
中科院分区：
文献类型：
--
作者：
Azwirman Gusrialdi;R. Dirza;T. Hatanaka;M. Fujita
与静态传感器网络相比，机器人传感器网络由于其自部署和自重新配置的能力而在执行覆盖任务方面是有利的。然而，由于传感器具有有限的感测范围，因此当最初部署移动的传感器时，位于远离感兴趣区域的传感器可能无法自行部署，即参与覆盖任务。这导致机器人网络的覆盖性能下降。此外，由于实际上移动的传感器仅具有有限的能量存储，因此传感器的移动必须尽可能高效。为了提高机器人视觉传感器网络的覆盖性能，提出了一种新的分布式算法，通过保证所有传感器参与覆盖任务，并在运动规划中考虑传感器的能量消耗。该算法是一个标准的基于梯度的覆盖算法和领导者跟随算法的组合，旨在最大限度地提高联合检测概率的事件在感兴趣的区域。此外，标准的覆盖率控制法进一步修改，以考虑到传感器的能量消耗。通过数值模拟验证了结果。
A robotic sensor network is advantageous in performing a coverage task compared to the static sensor network due to its ability to self-deploy and self-reconfigure. However, since the sensor has a limited sensing range, when mobile sensors are initially deployed, sensors located far away from the region of interest may not be able to self-deploy themselves, i.e. participate in the coverage task. This results in a degradation of coverage performance by the robotic network. Furthermore, since in reality the mobile sensors have only a limited energy storage, the movement of the sensors have to be as efficient as possible. This article proposes a novel distributed algorithm in order to improve the coverage performance by the robotic visual sensor network by guaranteeing the participation of all sensors in the coverage task and considering the energy consumption of the sensors in the motion planning. The algorithm is a combination of the standard gradient-based coverage algorithm and a leader-following algorithm and is designed to maximize the joint detection probabilities of the events in the region of interest. In addition, the standard coverage control law is further modified in order to take into account the energy consumption of the sensors. The results are validated through numerical simulations.