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On Data Collection Using Mobile Robot in Wireless Sensor Networks

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3 Author(s)
Tzung-Cheng Chen ; Dept. of Eng. & Manage. of Adv. Technol., Chang Jung Christian Univ., Tainan, Taiwan ; Tzung-Shi Chen ; Ping-Wen Wu

A novel data-collecting algorithm using a mobile robot to acquire sensed data from a wireless sensor network (WSN) that possesses partitioned/islanded WSNs is proposed in this paper. This algorithm permits the improvement of data-collecting performance by the base station by identifying the locations of partitioned/islanded WSNs and navigating a mobile robot to the desired location. To identify the locations of the partitioned/islanded WSNs, two control approaches, a global- and local-based approach, are proposed. Accordingly, the navigation strategy of the robot can be scheduled based on time and location using three scheduling strategies: time based, location based, and dynamic moving based. With these strategies, the mobile robot can collect the sensed data from the partitioned/islanded WSNs. Therefore, the efficiency of sensed data collected by the base station in partitioned/islanded WSNs is improved. Through simulation under the environment of an ns-2 simulator, the results, from various aspects, show that the collecting strategies proposed can dramatically improve sensed data-collecting performance in partitioned or islanded WSNs.

Published in:

Systems, Man and Cybernetics, Part A: Systems and Humans, IEEE Transactions on  (Volume:41 ,  Issue: 6 )