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针对移动传感器网络中的目标跟踪问题,以及现有控制策略在保持网络拓扑结构连通性和降低能量消耗方面存在的不足,提出一种基于蜂拥控制的移动传感器网络目标跟踪算法.首先,利用网络中部分节点检测目标,并使用卡尔曼一致性滤波算法估计目标的状态,在获得比较精确的估计状态的同时降低能量消耗;然后,在蜂拥控制下传感器网络始终保持拓扑结构连通性和目标对网络可见,同时避免节点之间发生碰撞.仿真结果验证了所提出算法的有效性.
Aiming at the problem of target tracking in mobile sensor networks and the existing control strategies to maintain network topology connectivity and reduce energy consumption, this paper proposes a target tracking algorithm based on flocking control in mobile sensor networks.Firstly, Some nodes detect the target and use Kalman consistent filtering algorithm to estimate the state of the target to reduce the energy consumption while obtaining the more accurate estimation state. Then, the sensor network always maintains the topology connectivity and the target is visible to the network , While avoiding collision between nodes.The simulation results verify the effectiveness of the proposed algorithm.