Energy-Efficient Anti-Flocking Control for Mobile Sensor Networks on Uneven Terrains

Anti-flocking controlled mobile sensor networks (MSNs) have demonstrated impressive dynamic area coverage performances. Even though MSNs are often utilized in outdoor environments that consist of uneven terrains, existing anti-flocking control protocols are designed for flat terrain navigation. Thus...

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Bibliographic Details
Published in:IEEE transactions on circuits and systems. II, Express briefs Express briefs, 2018-12, Vol.65 (12), p.2022-2026
Main Authors: Ganganath, Nuwan, Yuan, Wanmai, Fernando, Tyrone, Iu, Herbert H. C., Cheng, Chi-Tsun
Format: Article
Language:English
Subjects:
Anti-flocking
distributed motion control
Energy consumption
energy-efficient
Force
Friction
mobile sensor networks
Navigation
Protocols
Remote sensors
Sensors
Surveillance
Terrain
uneven terrains
Wireless sensor networks
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Summary:Anti-flocking controlled mobile sensor networks (MSNs) have demonstrated impressive dynamic area coverage performances. Even though MSNs are often utilized in outdoor environments that consist of uneven terrains, existing anti-flocking control protocols are designed for flat terrain navigation. Thus, they tend to maneuver mobile sensory units along shortest paths between navigation goals in an area of interest. Even though navigating along shortest paths can be both time- and energy-efficient on flat terrains, such motions can often result in excessive energy consumptions on uneven terrains. This brief proposes an energy-efficient anti-flocking control protocol for MSNs based on a terrain adaptation force and a navigation goal selection method. The proposed control protocol encourages mobile sensory units to follow terrain contours whenever feasible. Test results show that the proposed control protocol is a promising energy-efficient solution for MSNs operating on uneven terrains.
ISSN:1549-7747
1558-3791
DOI:10.1109/TCSII.2018.2822324