An energy efficient dynamic routing scheme for clustered sensor network using a ubiquitous robot

Wireless sensor network have been widely used in many applications such as military, unmanned space exploration, and so on. However, the limited energy of the sensor nodes requires efficient gathering of information so that the network lifetime is increased. In literature it is proved that this efficiency can be achieved by clustering the sensor nodes in the network. The cluster heads cooperate with each other to forward their data to the base station, these cluster heads which are closer to the base station are burdened with heavier relay traffic and tend to die much faster, leaving areas of the network uncovered and causing network partitions. In this paper we propose energy efficient dynamic routing protocol (EEDR) to reduce these kind of problem by distributed way using ubiquitous robot which works like a data collecting agent and in charge of balancing the energy in the entire network. We use two kind of routing schemes, one is the reactive routing which is used for intra clustering and proactive routing for inter cluster routing. We evaluate our work by using mathematical expressions which shows the efficiency of our work is greater than that of the classic routing schemes.