Cooperative Obstacle Avoidance Approach in Mobile Wireless Sensor Network:Mobile Obstacle

Aiming at the research of cooperative obstacle avoidance in tracing based on the traditional flocking model,it was improved by us and added the Steer to Avoid obstacle avoidance method.The improved model has a high efficiency in avoiding static obstacle.We applied this model to mobile obstacle environment.It turns out that the obstacle avoi-dance efficiency is very low,because it is possible that WSN nodes and obstacle stay relatively static in the process of avoiding obstacle.Aiming at this drawback,this article proposed a new cooperative obstacle avoidance approach by improving the Steer to Avoid method.When the velocity of the obstacle is close to nodes' velocity,WSN nodes will be moving in the reverse direction of the obstacle.And we introduced obstacle moving prediction.Simulation results show that the proposed model,compared with the traditional model,has a marked increase on average speed and time efficiency.Also,it can succeed in avoiding mobile convex obstacles in unknown environment.