Obstacle-Aware Connectivity Establishment in Wireless Sensor Networks

In wireless sensor networks (WSNs), the sensor nodes collect data from the target area and send it to the base station through a multi-hop connection. As a result, high energy dissipation of the sensor node may occur. Some times failure of nodes on large scale create partitions in the network. Also, the presence of obstacles is the reason for the coverage gap in networks. The introduction of mobile nodes has been measured to be a worthy approach to significantly decrease the energy dissipation of the static sensor nodes. This job is realized by considering the route through which the mobile collectors move to collect data from the sensor nodes. Another challenging job is to find the path of the mobile collector in an area with obstacles. In this work, an obstacle aware connectivity establishment (OACE) using mobile nodes in wireless sensor networks is proposed. The mobile robot collects data from each partition and carries forward to other partitions so data finally reaches to sink. To achieve this, a Delaunay triangulation based obstacle avoidance clustering has been performed. The performance of the proposed algorithm has been shown by varying the sensor nodes to a single mobile node and multiple mobile nodes. The number of partitions in the network also plays an important role in network performance. Simulation results show that the proposed method with multiple mobile collectors is more energy-efficient with less latency as compared to the single mobile collector for data collection.