A novel bionic swarm intelligence algorithm, called ant colony algorithm based on a blackboard mechanism, is proposed to solve the autonomy and dynamic deployment of mobiles sensor networks effectively. A blackboard m...A novel bionic swarm intelligence algorithm, called ant colony algorithm based on a blackboard mechanism, is proposed to solve the autonomy and dynamic deployment of mobiles sensor networks effectively. A blackboard mechanism is introduced into the system for making pheromone and completing the algorithm. Every node, which can be looked as an ant, makes one information zone in its memory for communicating with other nodes and leaves pheromone, which is created by ant itself in naalre. Then ant colony theory is used to find the optimization scheme for path planning and deployment of mobile Wireless Sensor Network （WSN）. We test the algorithm in a dynamic and unconfigurable environment. The results indicate that the algorithm can reduce the power consumption by 13% averagely, enhance the efficiency of path planning and deployment of mobile WSN by 15% averagely.展开更多
To solve dynamic obstacle avoidance problems, a novel algorithm was put forward with the advantages of wireless sensor network (WSN). In view of moving velocity and direction of both the obstacles and robots, a mathem...To solve dynamic obstacle avoidance problems, a novel algorithm was put forward with the advantages of wireless sensor network (WSN). In view of moving velocity and direction of both the obstacles and robots, a mathematic model was built based on the exposure model, exposure direction and critical speeds of sensors. Ant colony optimization (ACO) algorithm based on bionic swarm intelligence was used for solution of the multi-objective optimization. Energy consumption and topology of the WSN were also discussed. A practical implementation with real WSN and real mobile robots were carried out. In environment with multiple obstacles, the convergence curve of the shortest path length shows that as iterative generation grows, the length of the shortest path decreases and finally reaches a stable and optimal value. Comparisons show that using sensor information fusion can greatly improve the accuracy in comparison with single sensor. The successful path of robots without collision validates the efficiency, stability and accuracy of the proposed algorithm, which is proved to be better than tradition genetic algorithm (GA) for dynamic obstacle avoidance in real time.展开更多
基金National "863" Project of China (Grant no. 2007AA04Z224)
文摘A novel bionic swarm intelligence algorithm, called ant colony algorithm based on a blackboard mechanism, is proposed to solve the autonomy and dynamic deployment of mobiles sensor networks effectively. A blackboard mechanism is introduced into the system for making pheromone and completing the algorithm. Every node, which can be looked as an ant, makes one information zone in its memory for communicating with other nodes and leaves pheromone, which is created by ant itself in naalre. Then ant colony theory is used to find the optimization scheme for path planning and deployment of mobile Wireless Sensor Network （WSN）. We test the algorithm in a dynamic and unconfigurable environment. The results indicate that the algorithm can reduce the power consumption by 13% averagely, enhance the efficiency of path planning and deployment of mobile WSN by 15% averagely.
基金Project(60475035) supported by the National Natural Science Foundation of China
文摘To solve dynamic obstacle avoidance problems, a novel algorithm was put forward with the advantages of wireless sensor network (WSN). In view of moving velocity and direction of both the obstacles and robots, a mathematic model was built based on the exposure model, exposure direction and critical speeds of sensors. Ant colony optimization (ACO) algorithm based on bionic swarm intelligence was used for solution of the multi-objective optimization. Energy consumption and topology of the WSN were also discussed. A practical implementation with real WSN and real mobile robots were carried out. In environment with multiple obstacles, the convergence curve of the shortest path length shows that as iterative generation grows, the length of the shortest path decreases and finally reaches a stable and optimal value. Comparisons show that using sensor information fusion can greatly improve the accuracy in comparison with single sensor. The successful path of robots without collision validates the efficiency, stability and accuracy of the proposed algorithm, which is proved to be better than tradition genetic algorithm (GA) for dynamic obstacle avoidance in real time.
