He or she only needs to enter a set of points
that will be automatically translated to a curve that the routing path must
follow. We propose to use a B-Spline [3, 6] curve which will pass through all of
the points. The B-Spline is later segmented into checkpoints to be distributed
to the nodes. A discrete set of points is chosen to avoid the computation
necessary to approximate the trajectory at the individual nodes, therefore
simplifying the calculations needed in TBF. Since the trajectory is intended
to be distributed one time by a high power sink, the overhead introduced is
minimal.
For a complicated continuous trajectory, the residues proposed in [16] are
ine?±cient to calculate. Complicated trajectories can be considered as those
373
Fernand S. Cohen, Joshua Goldberg, and Jaudelice C. de Oliveira
Fig. 2. (a) A sensor field where an enemy camping area needs to be avoided. The
figure shows the points entered on the CAD system and the curve generated. The
routing path will be chosen to follow the curve as closely as possible given the
residual energy constraint of the nodes.
with loops or many turns. In this case, the algorithm will correctly select
nodes farther on the trajectory but will have skipped entire portions. Discrete
points along with the corresponding indexes can be used to correctly route
in loops. The optimal distance between the discrete points and a method to
traverse the discrete path, is needed.
Pages:
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598