Abstract
This paper addresses issues of the application of computer simulation to design a wireless network for tracking and monitoring purposes. The network is formed by mobile robots carrying sensors. To achieve a common goal it has to automatically adopt to changes in the environment and ensure the permanent connectivity with the central decision unit. The focus is on high coverage of given region of interest and motion trajectory planning avoiding obstacles. Two calculation schemes for computing target positions of robots, i.e., off-line (centralized) and on-line (distributed) are investigated. They employ different optimization algorithms to calculate the positions of robots. Simulators of two types of ad hoc networks for detecting, tracking and monitoring of a heavy gas cloud were implemented based on V-REP and MATLAB tools. The results of presented case studies illustrate the performance of simulation-based approach to ad hoc networks design. Advantages and disadvantages of different computing schemes and selected optimization methods are described and discussed.
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Bazydło, P., Niewiadomska-Szynkiewicz, E., Czerwiński, K., Rękawek, P. (2016). Simulation-Based Design of Mobile Ad Hoc Network for Tracking and Monitoring. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M. (eds) Challenges in Automation, Robotics and Measurement Techniques. ICA 2016. Advances in Intelligent Systems and Computing, vol 440. Springer, Cham. https://doi.org/10.1007/978-3-319-29357-8_50
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DOI: https://doi.org/10.1007/978-3-319-29357-8_50
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