Bounded Relay Hop in the Cluster Based Multi-robot Data Gathering in Wireless Sensor Networks

摘要

Recent research has shown that using mobile robots as mobile nodes to gather and carry data in WSNs can effectively reduce the data relay hop count and improve the lifetime of the WSNs. But because of the low speed feature of the mobile robot, a greater time delay has been produced in the process of gathering data in WSNs with mobile robot. In order to make a balance between the lifetime of WSNs and the time delay of mobile robot data gathering, this paper proposes a Bounded Relay Hop in the Cluster based Multi-robot Data Gathering (BRHC-MRDG) problem, and formulates the BRHC-MRDG as an integer linear programming. In order to solve the BRHC-MRDG problem, the Distributed Double-layer Clustering Data Gathering Algorithm (DDC-DGA) is proposed. In different parameter values, the comparison experiments are designed to verify the effectiveness of the DDC-DGA.