传感技术学报2017，Vol.30Issue(10)：1596-1601,6.DOI:10.3969/j.issn.1004-1699.2017.10.024
基于二次Bezier曲线的无线传感网避障路径规划研究
Obstacles Avoidance Based Quadratic Bezier Curve Path Planning for Wireless Sensor Networks
摘要
Abstract
The traditional sensory data collection method with fixed Sink node will lead to hot spot problem. To over-come this problem,mobile data collection by mobile Sink is proposed so as to balance network energy distribution and prolong network lifecycle. Aiming at the application scenario of the vehicle-like robot as a mobile data aggrega-tion node in wireless sensor networks,this paper proposes a continuous quadratic Bezier curves based obstacle a-voidance path planning algorithm for mobile Sink node. Firstly,some segmented continuous Bezier curves are con-structed as a whole cruise trajectory. Secondly,the repulsive effect of multiple obstacles is analyzed by artificial po-tential field method. As a result,the position of internal control points of Bezier curve is dynamically adjusted with repulsive potential field,and adjacent obstacles can be excluded from delta-shaped region by quadratic Bezier curve. Simulation results verify that the proposed method can realize multiple obstacles avoidance in the planning path of mobile Sink node with smaller computational complexity.关键词
无线传感器网络/Bezier曲线/路径规划/障碍避免Key words
wireless sensor networks/bezier curve/path planning/obstacles avoidance分类
信息技术与安全科学引用本文复制引用
张美燕,蔡文郁,周莉萍..基于二次Bezier曲线的无线传感网避障路径规划研究[J].传感技术学报,2017,30(10):1596-1601,6.基金项目
浙江省自然科学基金项目(LY18F030006,LY15F030018,Y18F030025) （LY18F030006,LY15F030018,Y18F030025）
国家自然科学基金项目(6170060208) （6170060208）
