An actuator real-time placement algorithm based on regular hexagonal grid for wireless sensor and actuator networks

Network coverage is one of key issues for designing a practical Wireless Sensor and Actuator Network (WSANs). In view of real-time coverage and convergence of mobility coverage, an actuator real-time placement algorithm based on regular hexagonal grid for WSANs (ARP-RGH) is proposed. In this algorithm, firstly, a regular hexagonal grid plot algorithm is used to choose the idea location of actuators for maximizing the monitoring area coverage of the network from a theoretical perspective; and then, the actuators are spreaded in the form of uniform distribution by a moving algorithm based on virtual forces; at last, according to the ideal location calculated before, the optimal location of actuators is given by real-time coverage rounds algorithm. ARP-RHG algorithm implements the optimal coverage of actuators under real-time coverage constrain conditions, and makes the actuators avoid moving into the holes of sensor distribution. The results of the simulation show that the ARP-RHG algorithm has good coverage and convergence.