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.
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Acknowledgements
This work is partially supported by National Natural Science Foundation of China (Grant No. 61074178). We also gratefully acknowledge the helpful comments and suggestions of the reviewers, which have improved the presentation.
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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: Ceccarelli, M., Glazunov, V. (eds) Advances on Theory and Practice of Robots and Manipulators. Mechanisms and Machine Science, vol 22. Springer, Cham. https://doi.org/10.1007/978-3-319-07058-2_54
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DOI: https://doi.org/10.1007/978-3-319-07058-2_54
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