A hopping sensor deployment scheme based on virtual forces

Wireless sensor networks have been widely utilized in many applications such as environment monitoring and controlling. Appropriate sensor deployment scheme to achieve the maximal coverage is crucial for effectiveness of sensor network. In this paper, we study coverage optimization problem with hopping sensors. Although similar problem has been investigated when each mobile sensor has continuous dynamics, the problem is different for hopping sensor which has discrete and constraint dynamics. Based on the characteristics of hopping, we obtain dynamics equation of hopping sensors. Then we propose an enhanced virtual force algorithm as a deployment scheme to improve the coverage. A combination of attractive and repulsive forces generated by Voronoi neighbor sensors, obstacles and the centroid of local Voronoi cell is used to determine the motion paths for hopping sensors. Furthermore, a timer is designed to adjust the movement sequence of sensors, such that unnecessary movements can be reduced. Simulation results show that optimal coverage can be accomplished by hopping sensors in an energy efficient manner.