Research On Multi-robot Wsn Disjoint Segment Method Based On Multi-objective Topology Optimization

Wireless Sensor Networks(WSN)are often deployed in harsh environments with complex conditions and no one on duty.In a complex and harsh environment,the nodes in WSN may be damaged by natural disasters,causing a large number of nodes to fail at the same time,resulting in the entire network being divided into multiple isolated islands.When the network forms an island,in order to restore the normal operation of the network,it is necessary to restore the connectivity between the islands,that is,island alliance.After island alliance,islands need to have a longer network lifetime to meet long-term detection services,and island alliance methods are required to have higher efficiency for restoring connectivity.Therefore,the design of the island alliance method is the key issue for wireless sensor networks to restore the connectivity between islands,and it is also the focus of multi-objective topology optimization.This paper aims at network topology optimization after alliance,and conducts research from the following two main aspects.First of all,aiming at the disadvantage of low efficiency of multi-robot wireless sensor network island alliance method,an optimization of multi-robot WSN island alliance based on partition energy balance is proposed.On the basis of WSN-related network model assumptions and symbol definitions,referring to the ideas of divide and conquer and local priority,a connection mechanism of energy balance is proposed,and a round iterative process is introduced to establish a formulaic description of the island alliance method.Using the relevant knowledge of heuristic algorithms,a relay deployment algorithm based on energy balance of mobile robots is designed.Secondly,in order to solve the problem that the network is divided due to the excessive load in the wireless sensor network area,a multi-robot WSN island alliance method based on local area partition load balancing is proposed.Based on network model assumptions and symbol definitions,a load balancing connection mechanism is proposed.A formulaic description of the method is established,a graph search algorithm is introduced to evaluate the load sharing ability of the island,a local partition connectivity algorithm is constructed,and a multi-robot relay deployment algorithm based on local partition is given.Finally,using MATLAB as a simulation platform,the method proposed in this paper is verified experimentally.The method in this paper is compared with other island alliance methods in terms of the number of relays,relay deployment time,load balance,and network life cycle to verify the effectiveness of the method in this paper.