基于移动机器人的无线传感器网络数据收集方法

稀疏无线传感器网络中各传感器节点距离较远,而传统的静态数据收集方法要求各传感器节点直接通信,导致网络延迟时间长,能耗高。针对该问题,提出一种基于移动机器人的无线传感器数据收集方法。该方法首先由静态节点选择与路径最短的移动机器人作为簇头,移动机器人比较一定周期内检测到的邻居节点的平均剩余能量与整个网络传感器节点平均剩余能量,根据比较结果决定其是否移动,若移动则采用范围可控的随机移动策略;当移动机器人移动到新位置时,传感器节点更新路由,选择新的移动机器人作为簇头。仿真结果表明,与传统的静态无线传感器网络数据收集方法相比,基于移动机器人的无线传感器网络数据收集方法大大降低了数据传输延迟和节点能量消耗。

Data collection method of wireless sensor network based on mobile robots

In sparse wireless sensor network,neighboring nodes are far away from each other.The requirement of direct communication among sensor nodes in traditional static data collection methods causes large time-delay and high energy consumption.In order to solve above problem,the paper proposed a data collection method of wireless sensor networks based on mobile robots.The method firstly takes a mobile robot as cluster head node which is nearest to a static sensor node,then judges node moving according to comparison result between average remainder energy of neighboring nodes detected by mobile robot in a period and average remainder energy of all nodes in the network.The mobile robot moves according to random moving strategy in controlled range.When the mobile robot arrives at a new position,the sensor node renews route and selects a new mobile robot as cluster head.The simulation results showed that the method can reduce time-delay of data transmission and energy consumption of sensor nodes greatly compared with traditional static data collection methods.