Path Planning Algorithm For Water Surface Mobile Base Station Based On Voronoi Diagram And Bacteria Foraging Optimization Algorithm

Surface Sensor Networks (SSNs) are wireless sensor network composed of multi buoy sensor nodes deployed in the water surface environment. The nodes are equipped with various sensors to collect effective information on the surface or underwater, and utilize wireless RF communication for data transmission and aggregation. They can be highly used for rivers, lakes, seas and other water environment.In Surface Sensor Networks, sensor nodes are deployed sparsely, the distance between nodes is larger than the communication radius of the nodes, and the mobile base station is required to collect the data of the nodes effectively. It is an important issue with practical significance to collect the data of the nodes completely with the shortest or approximately shortest path length of the base station. In this thesis, the node data collection problem is introduced. The network is transformed into Voronoi graph structure, and a path planning method of mobile base station for node data gathering based on Bacterial Foraging Optimization algorithm is proposed. Simulation and experiment prove the validity of the method.The main contents and innovations of this thesis are as follows:(1)The data information collection problem of sensor nodes is studied, and the corresponding mathematical model is established. The Surface Sensor Networks are transformed into Voronoi diagram, and then the candidate sub-path sets can be generated, such that the path planning problem is transformed into one-dimensional binary code problem effectively. And the path length is used as a performance index to measure the performance of the sub-path selection under the condition that the node data is collected and the sub-path is continuous. The communication energy consumption of sensor nodes and the base station’s mobile and communication energy consumption are described in formulation.(2)A path planning method for the mobile base station based on BFO algorithm is proposed. Because the traditional BFO algorithm has good searching and excellent global optimization ability, so in the iterative process, each dimension’s position is discrete into binary 0 or 1. It transforms the path planning problem to code expression, and completes the optimal search solution. The solution is modified to satisfy the condition, and then the length of the path is calculated. Simulation results show that the proposed algorithm can solve the mobile base station’s path planning problem effectively.This thesis focuses on the path planning problem of mobile base station in Surface Sensor Networks, the model and method for the path planning problem of mobile base station in the water network has some promoting and reference value.