Deploying clustered wireless sensor network by multi-robot system

Deployment strategy is vital for efficiency in applications of wireless sensor network. Deploying wireless sensor network in vast area is very hard and time consuming job. In many applications there is also need to deploy sink other than wireless sensor nodes which sink deployment is another issue. In this paper, we use spanning tree for autonomous deploying wireless nodes and sinks. Deploying actor in this method is multi-robot system. In this method robots act as dispenser for wireless nodes. Using spanning tree as exploration algorithm helps robot to full coverage deployment of nodes. For analyzing the algorithm using multi-robot a simulation test bed is developed with a parameterized environment with obstacle. The result shows performance of sensing coverage in different environments

Efficient terrain coverage for deploying wireless sensor nodes on multi-robot system

Coverage and connectivity are the two main functionalities of wireless sensor network. Stochastic node deployment or random deployment almost always cause hole in sensing coverage and cause redundant nodes in area. In the other hand precise deployment of nodes in large area is very time consuming and even impossible in hazardous environment. One of solution for this problem is using mobile robots with concern on exploration algorithm for mobile robot. In this work an autonomous deployment method for wireless sensor nodes is proposed via multi-robot system which robots are considered as node carrier. Developing an exploration algorithm based on spanning tree is the main contribution and this exploration algorithm is performing fast localization of sensor nodes in energy efficient manner. Employing multi-robot system and path planning with spanning tree algorithm is a strategy for speeding up sensor nodes deployment. A novel improvement of this technique in deployment of nodes is having obstacle avoidance mechanism without concern on shape and size of obstacle. The results show using spanning tree exploration along with multi-robot system helps to have fast deployment behind efficiency in energy

Wireless sensor nodes deployment using multi-robot based on improved spanning tree algorithm

A wireless sensor network is a network consisting of a large number of sensor nodes deployed in a region to fulfil the demanding task of sensing. By merging wireless sensor nodes with mobile robots, the performance of wireless sensor network applications may be improved. Coverage and connectivity are the two parameters of a wireless sensor network. Stochastic node deployment or random node deployment may cause holes in sensing coverage and existing redundant nodes in the area. On the other hand, precise deployment of nodes in large area is very time consuming and even impossible in hazardous environment. One of the solutions to this problem is by using mobile robots with concern on exploration algorithm for mobile robot. In this thesis an autonomous deployment method for wireless sensor nodes is proposed via multi-robot system which robots are considered as nodes carrier. Developing an exploration algorithm based on spanning tree is the main contribution. The exploration algorithm should perform fast localization of sensor nodes in energy efficient manner. Employing a multi-robot system and path planning with spanning tree algorithm is a strategy for speeding up sensor node deployment. An improvement of this technique in deployment of nodes is the use of an obstacle avoidance mechanism without concern on shape and size of obstacle. The deployment task in this thesis is simulated on Player/Stage environment and the results were compared with other algorithms like obstacle-free and power-efficient (OFPE) which is modified to multi-robot (MR-OFPE) for deploying nodes. Using the proposed method, the results demonstrated an improvement in energy efficiency up to 40%, while deploying time is reduced about 28% compared to MR-OFPE. By deploying these nodes, the sensing coverage is enhanced about 8% compared to MR-OFPE. This research shows that a multi-robot system can optimize time and energy in robots while improving the application of a wireless sensor network

Finding objects with segmentation strategy based multi robot exploration in unknown environment

In this paper we address exploration algorithm in flat experimental environment with colored objects for multi robots system. The aim of exploration in unknown environment is finding target points like mine detection in outdoor environment without any positioning device. Two algorithms were investigated in this paper one is frontier based random search algorithm and the second is efficient algorithm based on segmentation strategy. To improve efficiency, each robot had to go to different regions to avoid cumulating robots in one region. Constructed maps for all four regions could be shared and navigation could be done more effectively. For constructing map robot can use on built range finder sensor or using vision based systems. Also the algorithm using segmentation strategy is using frontier base algorithm for exploring divided area. Both algorithm implemented and analyzed in Player/Stage simulation. The result was compared and showed the efficiency of the designed algorithm based segmentation strategy. In simulation this algorithm is tested with different number of robots to achieve better view of efficiency for proposed algorithm in different type of environment like harsh environment as possibility of losing some robots