基于虚拟力的三维部署技术研究

为了能够实现在复杂多变的环境中执行对未知目标体的探测任务,提出了一种基于虚拟力的在三维空间中的对复杂目标进行精确覆盖的部署算法。首先将虚拟力算法从二维空间拓展到三维空间,创新地提出了自适应中心引力和目标斥力网的概念,使传感器节点能够根据探测目标形态的不同,自主进行调整部署形态,自适应地覆盖未知目标进行有针对性的探测任务。在仿真试验中,实现了对不同形态的复杂目标进行精确覆盖,并且与传统的虚拟力算法相比,覆盖率和均衡度都有较大提升。因此算法能在针对复杂的未知目标进行探测时,以较小的代价高效地完成探测任务,提出了一个从区域覆盖部署到目标精确覆盖部署的新型的研究方向。

Research of three-dimensional deployment technology based on virtual force

This paper presented an accurate coverage of complex target algorithm based on virtual force in three-dimensional space for probing unknown target in varied environment. First, it made the VFA (Virtual Force Algorithm) expansion to a three-dimensional space. Then, it proposed the adaptive centered force and the target repulsion network. According to the different probe target shape, it could make node cluster self-adaptively adjust the deployment form for the special detection task of covering unknown target. In the simulation experiment, it achieves accurate covering complex target of different forms and it has higher coverage and balanced than the VFA. So it can cost less to complete exploration missions when we want to detect the unknown complex target. It raises a new research direction, from regional coverage to accurate coverage.