Cooperative and Active Sensing in Mobile Sensor Networks for Scalar Field Mapping

被引：125
作者：
La, Hung M. [1 ]
Sheng, Weihua [2 ]
Chen, Jiming [3 ]
机构：
[1] Univ Nevada, Dept Comp Sci & Engn, Reno, NV 89557 USA
[2] Oklahoma State Univ, Sch Elect & Comp Engn, Stillwater, OK 74078 USA
[3] Zhejiang Univ, Dept Control, State Key Lab Ind Control Technol, Hangzhou 310027, Peoples R China
来源：
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS | 2015年 / 45卷 / 01期
基金：
美国国家科学基金会;
关键词：
Active sensing; cooperative sensing; flocking control; mobile sensor networks; sensor fusion; ALGORITHMS; CONSENSUS; FLOCKING;
D O I：
10.1109/TSMC.2014.2318282
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Scalar field mapping has many applications including environmental monitoring, search and rescue, etc. In such applications, there is a need to achieve a certain level of confidence regarding the estimates of the scalar field. In this paper, a cooperative and active sensing framework is developed to enable scalar field mapping using multiple mobile sensor nodes. The cooperative and active controller is designed via the real-time feedback of the sensing performance to steer the mobile sensors to new locations in order to improve the sensing quality. During the movement of the mobile sensors, the measurements from each sensor node and its neighbors are fused with the corresponding confidences using distributed consensus filters. As a result, an online map of the scalar field is built while achieving a certain level of confidence of the estimates. We conducted computer simulations to validate and evaluate our proposed algorithms.
引用
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页码：1 / 12
页数：12
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