Faculty of Robot Science and Engineering, Northeastern University, Shenyang 110819, China.
Engineering Faculty, University of Sydney, Sydney, NSW 2006, Austria.
Sensors (Basel). 2019 Nov 19;19(22):5045. doi: 10.3390/s19225045.
In the application of the wireless sensor and robot networks (WSRNs), there is an urgent need to accommodate flexible surveillance tasks in intricate surveillance scenarios. On the condition of flexible surveillance missions and demands, event coverage holes occur in the networks. The conventional network repair methods based on the geometric graph theory such as Voronoi diagram method are unable to meet the conditions of flexible surveillance tasks and severe multi-restraint scenarios. Mobile robots show obvious advantages in terms of adaptation capacity and mobility in hazardous and severe scenarios. First, we propose an event coverage hole healing model for multi-constrained scenarios. Then, we propose a joint event coverage hole repair algorithm (JECHR) on the basis of global repair and local repair to apply mobile robots to heal event coverage holes in WSRNs. Different from conventional healing methods, the proposed algorithm can heal event coverage holes efficaciously which are resulted from changing surveillance demands and scenarios. The JECHR algorithm can provide an optimal repair method, which is able to adapt different kinds of severe multi-constrained circumstances. Finally, a large number of repair simulation experiments verify the performance of the JECHR algorithm which can be adapted to a variety of intricate surveillance tasks and application scenarios.
在无线传感器和机器人网络（WSRN）的应用中，迫切需要在复杂的监控场景中适应灵活的监控任务。在灵活的监控任务和需求的条件下，网络中会出现事件覆盖空洞。基于几何图论的传统网络修复方法，如 Voronoi 图方法，无法满足灵活监控任务和严重多约束场景的条件。移动机器人在危险和恶劣场景中的适应能力和机动性方面表现出明显的优势。首先，我们提出了一种用于多约束场景的事件覆盖空洞修复模型。然后，我们提出了一种基于全局修复和局部修复的联合事件覆盖空洞修复算法（JECHR），以便将移动机器人应用于 WSRN 中的事件覆盖空洞修复。与传统的修复方法不同，所提出的算法可以有效地修复由于监控需求和场景变化而导致的事件覆盖空洞。JECHR 算法可以提供一种最佳的修复方法，能够适应各种严重的多约束情况。最后，大量的修复仿真实验验证了 JECHR 算法的性能，该算法可以适应各种复杂的监控任务和应用场景。
