Research on the monitoring problem of key points using mobile sensors

In order to solve problems with static sensor nodes,the monitoring performance of key points using mobile robots was studied.Mathematical expectations of the number of state cycles of key points in a certain period of time were deduced,in order to obtain an event number that was monitored by a mobile sensor in a key point,and the function of monitoring performance was obtained.Also,monitoring performance was analyzed theoretically along with velocity,path and the number of mobile robots.At the same time the mobile robots sensor motion planning method was proposed,and through a heuristic motion planning method k paths were established,allowing each key point to be monitored by at least one mobile sensor.This enabled the monitoring performance to be as successful as possible.Simulation experiments show that when the speed exceeds a certain value,the monitoring performance of mobile sensors will be greater than of fixed sensors.With the increasing number of mobile sensors the monitoring performance grows.