Mobile sensor networks are an important part of modern robotics systems and are widely used in robotics applications. Therefore, sensor deployment is a key issue in current robotics systems research. Since it is one of the most popular deployment methods, in recent years the virtual force algorithm has been studied in detail by many scientists. In this paper, we focus on the virtual force algorithm and present a corresponding parameter investigation for mobile sensor deployment. We introduce an optimized virtual force algorithm based on the exchange force, in which a new shielding rule grounded in Delaunay triangulation is adopted. The algorithm employs a new performance metric called 'pair-correlation diversion', designed to evaluate the uniformity and topology of the sensor distribution. We also discuss the implementation of the algorithm's computation and analyse the influence of experimental parameters on the algorithm. Our results indicate that the area ratio, φ s , and the exchange force constant, G, influence the final performance of the sensor deployment in terms of the coverage rate, the convergence time and topology uniformity. Using simulations, we were able to verify the effectiveness of our algorithm and we obtained an optimal region for the (φ s , G)-parameter space which, in the future, could be utilized as an aid for experiments in robotic sensor deployment.
In modern information technology, mobile sensor networks (MSNs) play an important role in industrial or military applications, so sensor deployment is a key issue in MSN research. Based on wireless communication theory, hexagonal topology is known to provide the best field coverage, limited nodes, and minimal system cost. In the 2-D dusty plasma physical system, plasma particles are capable of forming a good hexagonal structure based on Yukawa system crystallization. Therefore, this strategy can be applied to node deployment algorithm in MSN applications. For this paper, we used a 2-D dusty plasma simulation in order to provide node deployment for a large sensor network, and, for better performance evaluations, adopted the Delaunay triangulation in order to determine adjacent particles of a given dust particle. Sensor deployment distributions and system performance were carefully examined by considering various values for the shielding length and the computation scale in simulations. Here, we discuss the influence of the shielding rule in Yukawa system crystallization on sensor deployment applications. Our results indicate that the algorithm leads to better field coverage with perfect hexagonal topology, good system uniformity, and lower energy consumption, and can be considered as an aid for fast deployment experiments when thousands of wireless sensors are required within a large-scale area.
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