Mobile Robots Healing Strategy for Event Coverage Holes in Wireless Sensor and Robot Networks

• Published in: 2019 Chinese Control And Decision Conference (CCDC) pp. 4743 - 4748
• Main Authors: ZHUANG, Yaoming, WU, Chengdong, ZHANG, Yunzhou, Pengju, SI, GAO, Yuan, WU, Yang
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.06.2019
• Subjects: event coverage holes; Maintenance engineering; Mobile robots; Monitoring; network repairing; Optimization; Robot sensing systems; route optimization; wireless sensor and robot networks; Wireless sensor networks
• ISSN: 1948-9447
• DOI: 10.1109/CCDC.2019.8832335

It is necessary for wireless sensor and robot networks(WSRNs) to meet the changing monitoring requirements and complex network environment. There will be many event coverage holes in the networks with the changing of monitoring tasks. The traditional network healing methods cannot adapt to the changing monitoring tasks and complex multi-constrained network environment. Mobile robots have good adaptability and mobility in dangerous and complex environment. Therefore, in this paper, an event coverage hole repairing model is proposed under a variety of constraints. Then, a joint event coverage hole repairing algorithm (JECHR) based on global optimization and local optimization is proposed to use mobile robots to repair event coverage holes in wireless sensor and robot networks. Unlike traditional coverage hole repairing methods, JECHR algorithm can effectively repair event coverage holes caused by the changes of monitoring scenarios and monitoring requirements. Simultaneously, it provides an optimal repairing strategy, which is suitable for a variety of complex scenarios and multi-constrained network environment. Finally, the performance of the JECHR algorithm is verified by network repairing experiments in the multi-constrained environment.