Chapter 4 - Data collection in wireless sensor networks by ground robots with full freedom

Abstract

This chapter discusses the path planning problem using mobile ground robots to support the operation of the WSNs. We focus on designing paths for mobile robots. Considering the mobility constraints of mobile robots, we introduce a concept of a viable path, which combines the concerns of both robots and sensor networks. We formulate the problem of planning the shortest viable path for a single robot as a variant of the DTSPN. Accordingly, we develop an SVPP algorithm. We further consider the problem of planning viable paths for multiple robots and present a k-SVPP algorithm. As the constraints of mobile robots and the sensor networks are both taken into account in the path planning phase, the created paths enable the robots to effectively and efficiently collect data from sensor nodes.