Deployment Method of Wireless Sensor Networks for Coal Mine Safety Monitoring Based on Multi Robot Systems

Applying Wireless Sensor Networks(WSNs) to coal mine safety monitoring is an effective means to achieve continuous monitoring of underground environmental parameters, but how to deploy them is a prerequisite for application. Firstly, a three-dimensional deployment strategy based on Confident Information Coverage (CIC) model suitable for narrow and long underground spaces is proposed. Secondly, an autonomous deployment method for WSNs nodes in a multi robots system using robots as node carriers is proposed, which effectively improves the deployment efficiency of nodes. Finally, the deployment strategy and method proposed in this paper were validated through simulation experiments. The experimental results showed that the proposed strategy can reduce the number of nodes, and the deployment method is also superior to existing methods.