無線行動感測器佈署之免碰撞路徑規劃設計

Abstract

隨著無線行動傳感器的日益普及，自動化傳感器配置在智能感應環境之下變得切實可行。然而，在計算完移動至目的地（目標）的所有傳感器配置資訊後，如何安全地安排無衝突移動路徑到達目標的問題，在無線傳感器網絡（WSN）文獻上，仍然未得到很大程度地解決。在本文中，我們提出了一個無衝突路徑規劃Collision free Path Planning（CFPP）的機制，根據幾何公式和批次處理的動作，以解決傳感器配置的問題 我們建議的CFPP機制確保100％的傳感器目標可達性，這對於大多數需要在足夠的認知之下進行正確操作的WSN監測應用是很重要的關鍵。性能測試結果表示，我們的CFPP性能在計算延遲、能源消耗，以及傳感器可達性（達到目標的成功概率）方面，都優於其他現有的路徑規劃機制。 關鍵詞：行動感應器配置，路徑規劃

Abstract (English) With the growing popularity of wireless mobile sensors, automated sensors deployment in a smart sensing environment has become practical and feasible. Once the deployment algorithm determines moving destinations (goals) for all sensors, however, the problem of how to schedule collision-free moving paths to reach the goals safely remains largely unaddressed in the wireless sensor networking (WSN) literature. In this thesis, we propose a collision-free path planning (CFPP) mechanism, based on geometric formulations and batched movements, to address the sensors deployment problem. Our proposed CFPP mechanism ensures 100% sensors goal reachability, which is critical for most WSN monitoring applications that require sufficient sensing coverage to operate correctly. Performance results show that our CFPP outperforms other existing path-planning mechanisms in terms of computation latency, energy consumption, and sensors reachability (goals reaching success probability).