clustering is an efficient method for providing better data aggregation and scalability for Wireless Sensor Networks. Various applications of WSNs has caused that factors decreasing their performance such as obstacle presence have been investigated. In routing algorithms particularly clustering algorithms, there has not been much attention toward this factor. Without using GPS and complicated localization methods, S-Web algorithm clusters sensors based on their geographic locations. In this paper, we added the detection and avoidance of obstacles to S-Web algorithm. Our approach detects an obstacle locally using message communication among neighboring sensors of the obstacle. Moreover, sensors detecting obstacles use the right hand rule to send data. Our improved S-Web algorithm introduces an algorithm with a longer life time in comparison to LEACH, HEED, and EEUC clustering algorithms. Furthermore, in the proposed algorithm, the success rate of delivering messages to Base Station has increased in comparison to S-Web algorithm.
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