Robot Deployment Mechanism Based on Up-Down Patrol Compensation

In wireless sensor networks, it is a key challenge to develop a robot mobile deployment mechanism that can effectively find the coverage holes and achieve the full coverage with a minimal number of sensors. The existing robot mobile deployment solutions have some problems that they either have more cost or cannot effectively find coverage holes, which seriously affects the monitoring efficiency and quality of the entire network. In order to handle this problem, this paper proposes an Up-Down patrol compensation (UDPC) mechanism, which can effectively find coverage holes. The UDPC mechanism optimizes traditional mobile deployment algorithms by combining with them. Experiments verify that the proposed UDPC mechanism can achieve better performance. The existing deployment schemes can have a great improvement in the coverage of the monitoring area through the effective combination with the UDPC mechanism.