基于力引导定位的移动传感器网络协同目标追踪

Collaborative Target Tracking of Mobile Sensor Networks Based on Force-directed Localization

文中提出了一种移动式传感器网络的协同定位与目标追踪系统。该系统利用传感器节点的板载测距设备构建节点间的距离矩阵,通过力引导算法将网络节点的位置姿态信息从距离矩阵中还原出来。相比于GPS或固定信标等全局定位系统,该系统不需要提前布设基站,就可以实现传感器网络的协同定位。由于采用超高频测距定位,该系统避免了视觉定位导致的视觉遮挡和感知范围受限等问题,还采用了深度学习实现传感器网络节点的目标识别。在没有全局定位系统和中心控制器的条件下,传感器网络通过协同式定位和分布式群体控制,实现网络布局调整、视觉目标识别以及目标协同追踪。诸多优点使得该系统可以随意部署在战场、灾区、地下隧道甚至外太空等极端环境。采用理论分析方法证明了力引导定位系统的稳定性,并通过模拟实验和真实机器人实验证明了所提系统的可行性和实用性。

A collaborative localization system and target-tracking controller for mobile sensor networks is proposed.The localization system uses the onboard UWB ranging equipment to obtain the distance information between sensor nodes and build a distance matrix for the sensor network.The pose information is restored from the distance matrix rough the force-directed algorithm.Compared with global positioning systems such as GPS or beacons,this system does not need to deploy base stations in advance.Compared with visual positioning systems,the localization system uses Urbanology to achieve ranging and positioning which does not influence by illumination,visual occlusion.and limited perception range.The proposed sensor network system uses deep learning and hierarchical clustering to achieve target detection and image data fusion.The sensor network can automatically implement layout adjustment and collaborative target tracking.Because of its advantage,this sensor network system can be deployed in extreme environments such as battlefields,disaster areas,underground tunnels,and even outer space.This paper uses theoretical analysis to demonstrate the system stability of the force-directed positioning algorithm and proves the feasibility and practicality of the system through simulation experiments and robot experiments.