基于多目标群决策协调技术的WSN移动节点导航方法

WSN Mobile Node Navigation Method Based on Multi-Objective Group Decision Techniques

  • 摘要: 为高效、低成本地实现无线传感器网络(WSN)移动节点自主导航,提出了一种利用节点间接收信号强度信息(RSSI)和网络拓扑结构实现移动节点自主导航的方法,由多个信标节点组成一个分布式导航子网络,每个节点都有其相对独立的导航目标并会做出有利于自己的决策,采用多目标群体决策协调技术融合多个节点决策信息以获得机器人最终导航控制策略,使整个导航系统达到最优控制.导航算法采用分布式处理技术,使绝大部分数据处理任务都由各个信标节点分布执行,因此很大程度上简化了机器人的设计和硬件成本.仿真和现场实验都表明了该系统的有效性.

     

    Abstract: To implement mobile node autonomous navigation in WSN applications efficiently with low cost,an autonomous navigation method for mobile nodes based on RSSI(received signal strength indicator) and network topology is presented.A distributed navigation subnetwork consists of some beacon nodes,and each node has its independent navigation target and can make the decision in favor of itself.Decision information of several nodes is fused with multi-objective decision coordination technique to obtain final navigation control strategy,and then optimal control of the navigation system can be achieved.Distributed computing technology is used in the navigation algorithm,and most of data processing tasks are implemented by each beacon node,so design complexity and hardware cost of the robot can be effectively reduced.The validity of the system is fully proved by both the simulation and the experimental results.

     

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