A Deployment Method Based on Spring Force in Wireless Robot Sensor Networks

Abstract

Robotic sensor deployment is fundamental for the effectiveness of wireless robot sensor networks-a good deployment algorithm leads to good coverage and connectivity with low energy consumption for the whole network. Virtual force-based algorithms (VFAs) is one of the most popular approaches to this problem. In VFA, sensors are treated as points subject to repulsive and attractive forces exerted among them-sensors can move according to imaginary force generated in algorithms. In this paper, a virtual spring force-based algorithm with proper damping is proposed for the deployment of sensor nodes in a wireless sensor network (WSN). A new metric called Pair Correlation Diversion (PCD) is introduced to evaluate the uniformity of the sensor distribution. Numerical simulations showed that damping can affect the network coverage, energy consumption, convergence time and general topology in the deployment. Moreover, it was found that damping effect (imaginary friction force) has significant influence on algortithm outcomes. In addition, when working under approximate critical-damping condition, the proposed approach has the advantage of a higher coverage rate, better configurational uniformity and less energy consumption.

Optimized Node Deployment Algorithm and Parameter Investigation in a Mobile Sensor Network for Robotic Systems

“…Here, we adopt a second-order differential equation for node motion in the VFA [10,14], whose nodes are subjected to variable motion because the second-order differential equation is normally easier to determine in dynamic equilibrium in a physical system. The equation of a given node i is as follows,…”

“…Yu et al proposed a new sensor deployment algorithm based on Van der Waals [12] and the virtual spring force [14]. The spring force-based algorithm resulted in proper damping for the deployment of sensor nodes in mobile WSNs [14]. Yuąŕs methods are capable of supplying a better coverage rate, more uniformity for the network configuration, and a moderate convergence time.…”

“…The algorithm provides an effective distributed method as compared with an optimal centralized solution [10]. Yu et al proposed a new sensor deployment algorithm based on Van der Waals [12] and the virtual spring force [14]. The spring force-based algorithm resulted in proper damping for the deployment of sensor nodes in mobile WSNs [14].…”

“…We first describe changes to the shielding rule using Delaunay triangulation in order to replace the original shielding rule that determines the adjacent nodes of a given node. Second, to evaluate the uniformity of the node distribution, a new performance evaluation metric (improved from paper [14,15]) is introduced. Our simulation results indicate that the approach exhibits good performance in terms of the convergence time and uniformity for the network configuration.…”

“…Good intelligent deployment algorithms mainly include the following aspects: (1) processes to save sensor energy to extend the lifetime of network systems; (2) processes to obtain a uniform network topology in order to enlarge the coverage area; and (3) processes for accelerating the entire deployment procedure. Many approaches have been proposed for robotics sensor network deployment that have their own advantages, including: (1) computational geometry and grid-based methods [3][4][5]; (2) virtual force-or potential-based strategies [6][7][8][9][10][11][12][13][14][15]; (3) swarm intelligence and bionics algorithms [16][17][18][19][20][21][22][23]; and/or (4) a combination of the above approaches [24][25][26].…”