Improved approach for cooperative obstacle-avoidance in mobile wireless sensor network
Renfa Li · Journal of Computer Applications · 2012
Current research of the cooperative obstacle-avoidance tracing is based on traditional flocking control model which was proposed by Reynolds and implemented by Tanner.The authors improved it and added the Steer to Avoid obstacle avoidance method.This model has a high efficiency in avoiding convex obstacle in tracking target.If the method is applied to the environment of concave obstacles,nodes will stuck in the concave zone and could not get out,because the target has an attraction power to nodes when it comes to a Steer to Avoid judgment.This paper proposed a new model for concave obstacles by further improving the Steer to Avoid method.The attraction from the target was temporarily cancelled when it came to a concave environment judgment,and then the path was constantly searched along the edge of obstacles.Finally,nodes could get out of the concave obstacles and reach target.The simulation results show that the proposed model,while compared to the traditional model,has a marked increase on average rate and time efficiency in avoiding obstacle.Also,it can succeed in avoiding mobile concave obstacles in unknown environment.