A dual formation constraint mechanism of mobile sensor network based on congestion will

Cheng Yang*, Ping Song, Chuangbo Hao, Guang Wang, Lin Xie, Wenjuan Guo

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

For the weakness of formation adjustment in formation control of mobile sensor network nodes and formation disorder caused by long distance travel, a dual formation constraint mechanism based on congestion will is proposed in this paper. The mobile nodes use both general constraint and local constraint to maintain a stable formation based on the analysis of the kinematics model of the mobile node. The general constraint makes the nodes coordinated and improves the efficiency. The local constraint ensures the balanced position of each node in the formation. Simulation results show that the mobile nodes can move to the target in a stable and regular formation utilizing this method.

Original languageEnglish
Title of host publicationAdvances on Theory and Practice of Robots and Manipulators - Proceedings of ROMANSY 2014 XX CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators
EditorsVictor A. Glazunov, Marco Ceccarelli
PublisherKluwer Academic Publishers
Pages483-490
Number of pages8
ISBN (Electronic)9783319070575
DOIs
Publication statusPublished - 2014
Event20th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, ROMANSY 2014 - Moscow, Russian Federation
Duration: 23 Jun 201426 Jun 2014

Publication series

NameMechanisms and Machine Science
Volume22
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992

Conference

Conference20th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, ROMANSY 2014
Country/TerritoryRussian Federation
CityMoscow
Period23/06/1426/06/14

Keywords

  • Congestion will
  • Dual constraint mechanism
  • Mobile sensor network

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Yang, C., Song, P., Hao, C., Wang, G., Xie, L., & Guo, W. (2014). A dual formation constraint mechanism of mobile sensor network based on congestion will. In V. A. Glazunov, & M. Ceccarelli (Eds.), Advances on Theory and Practice of Robots and Manipulators - Proceedings of ROMANSY 2014 XX CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators (pp. 483-490). (Mechanisms and Machine Science; Vol. 22). Kluwer Academic Publishers. https://doi.org/10.1007/978-3-319-07058-2_54