The simulation of mobile robots pursuit collision problem in wireless sensor network

Collision problem of two controlled robots in wireless sensor network was researched. The system of wireless sensor network was analysis, and the problem of Pursuit-Evasion Games was described. Then the collision problem was converted into differential games problem, and mathematical model for collision problem was formed. The optimal controlling strategies for the two robots is given, and the model is constructed by using actor-oriented and hierarchical heterogeneity in PtolemyII. The research indicates that the differential games are efficient in dealing with collision problem, and the network model can better be constructed by using PtolemyII.