Spatial-Temporal Fusion Based Path Planning for Source Seeking in Wireless Sensor Network

被引:1
作者
Xu, Cheng [1 ,2 ]
Rong, Jiawei [1 ]
Chen, Yulin [1 ]
Wu, Hang [1 ]
Duan, Shihong [1 ]
机构
[1] Univ Sci & Technol Beijing, Sch Comp & Commun Engn, Beijing, Peoples R China
[2] Univ Sci & Technol Beijing, Shunde Grad Sch, Beijing, Peoples R China
基金
中国博士后科学基金;
关键词
Cooperative computing; Gradient estimation; Source seeking; Circular formation; Spatial-temporal information; DISTRIBUTED SOURCE SEEKING; ODOR SOURCE LOCALIZATION; COOPERATIVE CONTROL; ROBOT; ALGORITHMS;
D O I
10.1007/s10776-021-00540-9
中图分类号
TN [电子技术、通信技术];
学科分类号
0809 ;
摘要
Source seeking problem has been faced in many fields, especially in search and rescue applications. We proposed a virtual structure-based spatial-temporal method to realize cooperative source seeking using multi-agents. Spatially, a circular formation is considered to gather collaborative information and estimate the gradient direction of the formation center. In terms of temporal information, we use the formation positions in time sequence to construct a virtual structure sequence. Then, we fuse the sequential gradient as a whole. Experimental results show that, compared with state-of-the-art, the proposed method can quickly and efficiently find the source so that the formation can minimize the movement distance during the moving process and increase the efficiency of source seeking. Numerical simulations confirm the efficiency of the scheme put forth. Compared with state-of-the-art source-seeking methods, the iterative steps of our proposed method are reduced by 20%, indicating that the method can find the signal source with higher efficiency and lower energy consumption, and better robustness.
引用
收藏
页码:1 / 13
页数:13
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