導引服務(guiding navigation service)在無線感測網路(wireless sensor networks)中是一項很重要的應用，其目標在於協助多個可移動物體安全且快速的離開有危險的區域。先前的研究所設計的方法上並沒有考慮雍塞的問題(congestion problem)，但這樣的問題會延後逃離危險區域的時間。在這篇論文裡，我們提出了一個能適應現實環境的分散式導引協定(adaptive and distributed guiding protocol)，他能夠平衡每條路徑的負載並引導可移動物體到多個不同大小的出口。靠著感測器的幫助，可移動物體會被導引到不同朝向出口的路徑上使他們能夠盡快地逃離而不會造成雍塞。某些之前被提出的導引演算法，感測器可能會因為資料更新封包沒有被完全送到整個網路而選擇一個錯的方向。所以，感測器上所顯示的方向可能會暫時地震盪造成使用者的困擾，這樣的一個問題我們稱作是方向震盪問題(direction oscillation problem)。在我們所提出的方法中，這個問題會被消除。我們在設計方法及模擬時也考慮了多個現實的環境因數，結果顯示我們的方法能夠在較短時間把可移動物體導到出口，因為我們平衡了每條路徑，同時也具有最高的存活率。另外，我們的方法也能有效解決方向震盪問題。

One of the applications of wireless sensor networks is guiding navigation service with its goal to assist moving objects in leaving a hazardous region safely and quickly. Previous works do not consider the congestion problem when designing their guiding protocols. This critical problem will delay the time to leave the dangerous areas. In this thesis, we propose an adaptive and distributed guiding protocol that can guide moving objects to different sizes of exits with load balancing among multiple navigation paths to the exits. With the assistances of sensor nodes, moving objects are guided to different navigation paths so that they can move to exits as soon as possible without
causing congestion. In some proposed navigation algorithms, a sensor may select a wrong guiding direction when an information updating packet has not flooded through the whole network. Hence, the guiding direction of the sensor may oscillate in a short time and guided objects will confuse with this phenomenon, called direction oscillation problem. This problem will be eliminated in our proposed protocol. We consider several realistic environment parameters when designing our protocol and simulation model. Simulation results show that our protocol can guide moving objects to exits in shorter time due to balancing the load on each guiding path and have the highest survival ratio. In addition, the proposed protocol can solve the direction oscillation problem effectively.

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