自动化学报2011，Vol.37Issue(1)：107-112,6.DOI:10.3724/SP.J.1004.2011.00107
多执行器-传感器网络协作环境监测和治理
Cooperative Pollution Supervising and Neutralization with Multi-actuator-sensor Network
摘要
Abstract
The present work considers a scenario that a multiactuator-sensor network neutralizes poisonous gas and tracks the pollution sources in a bounded area. A novel algorithm is proposed to minimize the system information uncertainty while reaching balance on the workload of actuators. The method combines the centroidal Voronoi tessellations (CVT) with a consensus strategy. The CVT of the region insures a local optimal position configuration of the actuators, thus the sensing uncertainty can be minimized. The consensus algorithm utilizes the connection information among actuators, and helps them to reach a common workload. The consensus component will be terminated or suppressed when the workload is averaged. The consensus component may postpone the realization of CVT configuration. But it could be viewed as a perturbation that helps the actuators jump out of the local optimal CVT configuration.As a result, the information uncertainty may be further reduced.Comparison is drawn between the pure CVT algorithm and the method with consensus strategy. Simulations validated the proposed approach.关键词
Voronoi tessellation/position configuration/workload assignment/multi-agent systemKey words
Voronoi tessellation/position configuration/workload assignment/multi-agent system引用本文复制引用
孙巍,窦丽华,方浩..多执行器-传感器网络协作环境监测和治理[J].自动化学报,2011,37(1):107-112,6.基金项目
Supported by National Natural Science Foundation of China(60805035/F0306) and National Science Fund for Distinguished Young Scholars (60925011) （60805035/F0306）
