中文摘要：

针对多障碍影响的有向异构传感器网络中的覆盖问题，在满足有向感知模型的基础上，提出了基于虚拟势场的多障碍的有向异构传感器网络覆盖优化算法PCMODH。该算法通过引入重叠质心和有效质心的概念，对多障碍影响的有向异构传感器网络进行邻居节点的虚拟受力优化、节点往复运动优化、边界节点及障碍物节点处理。该算法优化了随机部署产生的覆盖问题，提高了多障碍的有向异构传感器网络的覆盖率。仿真结果证明了该算法的有效性。

英文摘要：

For the problem of coverage in heterogeneous sensor networks with multiple obstacles,this paper introduces avirtual potential field based coverage algorithm of multi-obstacle for directional heterogeneous networks(PCMODH)onthe basis of the directional sensing model.Through involving the concepts of overlapping centroid,effective centroid andvirtual boundary centroid,this algorithm makes optimizations of perform virtual force,node movements,boundary nodeand obstacle node in directional heterogeneous networks with multiple obstacles.The algorithm optimizes the coverageproblem in random deployment,and increases coverage in heterogeneous sensor networks with multiple obstacles.Simulationresults show the effectiveness of the proposed algorithm.