Path Planning for Semi-Flocking-Controlled Mobile Sensor Networks on Mobility Maps

Yuan, W, Ganganath, N, Cheng, C, Qing, G and Lau, F 2018, 'Path Planning for Semi-Flocking-Controlled Mobile Sensor Networks on Mobility Maps', in 2018 IEEE International Symposium on Circuits and Systems, (ISCAS 2018), Florence, Italy, 27-30 May 2018, pp. 1-5.


Document type: Conference Paper
Collection: Conference Papers

Title Path Planning for Semi-Flocking-Controlled Mobile Sensor Networks on Mobility Maps
Author(s) Yuan, W
Ganganath, N
Cheng, C
Qing, G
Lau, F
Year 2018
Conference name 2018 IEEE International Symposium on Circuits and Systems, (ISCAS 2018)
Conference location Florence, Italy
Conference dates 27-30 May 2018
Proceedings title 2018 IEEE International Symposium on Circuits and Systems, (ISCAS 2018)
Publisher IEEE
Place of publication USA
Start page 1
End page 5
Total pages 5
Abstract Mobile sensor networks (MSNs) are useful in monitoring outdoor environments. Semi-flocking algorithms have been proven to be efficient in controlling MSNs in area sensing and target tracking applications. Even though outdoor environments may consist of irregular regions with different traverse costs, existing semi-flocking algorithms assume an area of interest (AoI) to be regular and with uniform costs. Such an assumption limits target tracking capabilities of a MSN. In this work, we model operating terrains using a mobility map that incorporates the speed limits of different sub-regions. To gather the required number of mobile sensor nodes for target tracking, an A* heuristic search algorithm is used to find time-efficient paths connecting nodes to targets. Nodes can acquire navigation information using the A*-based path planning module and then traverse along the time-efficient paths until they reach the targets. Simulation results verify the effectiveness of the proposed method over an existing semi-flocking algorithm.
Subjects Control Systems, Robotics and Automation
Circuits and Systems
Manufacturing Robotics and Mechatronics (excl. Automotive Mechatronics)
Keyword(s) Semi-flocking
path planning
mobility maps
target tracking
mobile sensor networks
DOI - identifier 10.1109/ISCAS.2018.8351449
Copyright notice © 2018 IEEE
ISBN 9781538648810
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