A Hazardous Substance Monitoring Sensor Network Using Multiple Robot Vehicle

Abstract

Abstract In this paper, we consider a mobile sensor network for monitoring a polluted area where human beings cannot access. Due to the limited sensing range of individual unmanned vehicles, they need to cooperate to achieve an effective sensing coverage and move to a more polluted region. In order to address the limitations of sensing and communication ranges, we propose a hazardous substance monitoring network based on virtual force algorithms, and develop a testbed. In the considered monitoring network, each unmanned vehicle achieves an optimal coverage and move to the highest interest area based on neighboring nodes sensing values and locations. By using experiments based on the developed testbed, we show that the proposed monitoring network can autonomously move toward a more polluted area and obtain a high weighted coverage. Key Words : Hazardous subtance monitoring, mobile sensor network, unmanned vehicle, cooperative algorithm * 준회원, 울산대학교 전기전자컴퓨터공학과 ** 정회원, 울산대학교 전기전자컴퓨터공학과 (교신저자)접수일자 : 2015년 1월 7일, 수정완료 : 2015년 2월 1일게재확정일자 : 2015년 2월 13일Received: 7 January, 2015 / Revised: 1 February, 2015 Accepted: 13 February, 2015