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无线传感器网络自身修复机制不足以完成大规模覆盖空洞的修复任务,需要借助具有中继节点部署能力的空中机器人辅助实现.为了提高多空中机器人中继节点部署效率,从WSN最优中继节点位置求解的消息开销和分布均匀性角度出发,提出一种基于同调理论的多空中机器人WSN大规模覆盖空洞修复方法.以大规模覆盖空洞为部署环境,在同调理论的基础上,结合Halton序列,以依次递增的方式,产生一组部署位置均匀的候选中继节点;在所给出的单纯复形度及其索引值定义基础上,结合Cech复形相关性质,剔除冗余候选中继节点,最优中继节点候选部署位置.在最优中继节点部署位置基础上,以最小化多机器人总消耗为目标,构建中继节点最优位置部署模型,实现WSN大规模覆盖空洞修复.仿真实验结果表明,给出的方法能够在提高多空中机器人中继节点部署效率的同时,有效地降低网络的消息开销.
The self-repair mechanism of wireless sensor network is not enough to accomplish the task of large-scale coverage hole repair, which needs to be assisted by the air robot with relay node deployment capability.In order to improve the deployment efficiency of multi-air robot relay nodes, Based on the homology theory, this paper proposes a large-scale coverage hole repairing method based on homology theory for multi-air robots.With large-scale coverage of holes as the deployment environment, based on the homology theory, combined with the Halton sequence, In order of succession, a group of candidate relay nodes with uniform deployment locations are generated. Based on the definitions of simple conformalities and their index values and the related properties of Cech complex, the redundant candidate relay nodes are eliminated Based on the location of the optimal relay nodes, the optimal location deployment model of relay nodes is constructed with the goal of minimizing the total cost of multi-robot, and WSN large-scale coverage hole repairs are implemented. Simulation results It shows that the proposed method can effectively reduce the deployment efficiency of relay nodes in multi-air robot systems Message overhead envelope.