Path Planning for Data Collection Multiagent System in a Sensing Field with Obstacles

Using mobile robots to collect data from wireless sensor network can reduce energy dissipation and this way improve network lifetime. Our problem is to plan paths for multiagent system to visit a set of sensor nodes in a sensing field with obstacles while minimizing the data collection time. Reconstructing the path of an intruder in a guarded area is also a possible application of this technology. This paper applied a new approach for construct clusters of nodes that each robot must visit. To design the clusters and the visiting sequence of nodes a new algorithm based on Ant Colony Optimalization is developed.