中文摘要：

针对三维空间中无线传感网络的覆盖目标复杂多样,容易出现部署＂空洞＂,难以实现均匀部署的问题,提出了一种基于虚拟力补偿的三维空间自主部署算法。首先建立了节点模型和覆盖目标模型。其次将传统的虚拟力算法从二维扩展到三维空间,提出了覆盖目标虚拟力补偿的概念,使网络中的节点能够根据覆盖目标的特点,完成均匀的覆盖。仿真实验表明该算法覆盖率能达到95%以上,同时均匀度有10%的提升。最后通过四旋翼实验平台对算法的有效性进行了验证。

英文摘要：

Aiming at the problems of the complexity of the coverage targets,the proneness to appear the＂deployment hole＂and the difficulty for achieving uniform deployment in the WSN（ wireless sensor network） deployment in three-dimensional space,a three-dimensional space self-deployment algorithm based on virtual force compensation is proposed. Firstly,the node model and coverage target model are established. Secondly,the traditional virtual force algorithm is extended from two-dimensional space to three-dimensional space.The concept of virtual force compensation for coverage target is presented,so that the nodes in the network can cover the targets uniformly based on the characteristics of the targets. Simulation experiments show that the performance of this algorithm is greatly improved,the coverage rate reaches above 95% and the uniformity is improved by about 10%. The quadrotor experiment platform was used to verify the effectiveness of the proposed algorithm.