关键词: 移动无线传感器网络, 避障, 协同, 蜂拥控制, 凹形障碍

Abstract: Aiming at the research of the cooperative obstacle-avoidance tracing based on traditional flocking control model，which is proposed by Reynolds and implemented by Tanner, it has been improved by us 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. Temporarily cancel the attraction from the target when it comes to a concave environment judgment, and then constantly searching the path along the edge of obstacles. Finally, nodes could get out of the concave obstacles and reach target. Simulation results showed 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.

Key words: Mobile wireless sensor network, Obstacle avoidance, Cooperative, Flocking control, Concave obstacles.