面向运动目标搜索的移动传感网分布式协同控制理论与方法

项目名称： 面向运动目标搜索的移动传感网分布式协同控制理论与方法

项目编号： No.61203223

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 自动化学科

项目作者： 董卓宁

作者单位： 北京航空航天大学

项目金额： 25万元

中文摘要： 本项目突出信息处理网络化和智能化的特点，通过现代控制理论与信息系统理论的有机结合，凝练并解决两个基本且重要的科学问题：移动传感网的可控性、可观性和鲁棒性及其与通信拓扑的关系问题，以及移动传感网协同侦察搜索运动目标的多约束多目标优化问题。针对上述科学问题研究：分析局部不完全通信条件下，移动传感网的完全可控性和完全可观性条件及其与局部通信拓扑之间的关系，给出一种基于图论的可控、可观通信拓扑设计方案，并在此基础上探讨动态通信拓扑网络对通信延迟的鲁棒性问题；基于所构建的可控、可观的局部通信拓扑，设计传感器平台路径和传感器控制的同步规划机制，提出一种高效的联合优化方法，并设计移动传感网协同目标搜索的策略，给出一种面向运动目标搜索问题的一致性算法及其系统控制方法，最终试验验证本项目提出的网络化协同理论与方法。

中文关键词： 移动传感网；分布式协同控制；侦察搜索；虚拟力；信息理论

英文摘要： Two scientific issues are concluded and solved in this project based on the network and intelligent property of information processing, and the fusion of modern control theory and information theory. These two scientific issues are: the controllability, observability and robustness of the mobile sensor networks as well as their relationship to the communication topology, and the optimization problems of multiple objectives and constrains for mobile sensor networks searching for moving targets. In order to solve the above issues, the conditions of the complete controllability, the complete observability and the robustness of the mobile sensor networks as well as the relationship to the communication topology are analyzed in the conditions of the incomplete local communication, and a design scheme of the communication topology based on the graph theory is proposed. Then, the robustness impacted by the communication delay is investigated. In addition, the synchronization planning mechanisms of the sensor platform path and the sensor controlling are designed, the cooperative search strategies for mobile sensor networks are designed, and a consensus algorithm is proposed based on the controllable and observable communication topology. Finally, the theory and method in this project are verified by experiments.

英文关键词： mobile sensor networks；distributed cooperative control；reconnaissance search；virtual force；information theory