Abstract
This paper studies the moving path planning problem of mobile actuator in delay-constrained wireless sensor and actuator networks. We consider a real-time scenario for mission-critical applications, where the data gathering must be performed within a specified latency constraint. To maximise the network lifetime subject to the delay constraint, we construct an energy-efficient shortest path tree in which the sensors’ residual energy is taken into consideration. Then, based on the shortest path tree, we present a dynamic cost algorithm in which the sensor with more energy has higher possibility to be selected as polling point. Finally, the moving path of mobile actuator is determined by solving the travelling salesman problem including all the polling points. The effectiveness of our algorithm is validated by extensive simulations.
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