A Decentralised Self-Dispatch Algorithm for Square-Grid Blanket Coverage Intrusion Detection Systems in Wireless Sensor Networks

This research aims to propose a novel decentralised coverage protocol known as square-grid blanket coverage control algorithm for self-deployments of autonomous robotic wireless sensor networks in the open corridors as a means to discourage any intrusions. The algorithm advocates distributed solution and is asymptotically optimal in the sense of uniformity. The motion coordination scheme employed is due to the nearest neighbour technique which is implemented for the purpose of clustering and coordination among mobile sensor nodes in local area (vicinity), that is, to achieve uniform and distributed solutions for both 1-barrier coverage as an initial thrust of this research as well as our square-grid blanket coverage. Having successfully achieved 1-barrier coverage, mobile sensor nodes are subsequently moved in the systematic zigzag (snake-like) pattern by utilising local information obtained from its neighbourhoods to achieve the desired square-grid lattice. Research points out that simple motion coordination schemes have resulted in powerful, efficient and intelligent control algorithm to achieve the desired coverage. To manifest the efficacy of the proposed algorithm, several computer simulations have been conducted accordingly.