Assisted navigation algorithm for wireless sensor actuator and robot networks

Wireless Sensor, Actuator and Robot Networks (WSARNs) are made of mobile and static sensor nodes that interact to perform specific tasks, such as supporting assisted navigation for mobile robotic nodes that carry out requested operations in hostile environments, where the human presence is impracticable. In this regard, it is worth noting that assisted navigation algorithms have a highly dynamic nature, and are implemented by sensor nodes characterized by limited transmission power and lean autonomy in terms of computing and memory capacity. This paper presents an improved version of the assisted navigation algorithm based on the concept of "credit field". The main aim of the proposed algorithm is to reduce and balance the energy consumption among the static sensor nodes when running the algorithm to manage the presence of obstacles and adversary areas, thus extending the lifetime of WSARNs. The algorithm has been tested on a hybrid sensor network that employs Mica2 Motes as static sensor nodes and Lego Mindstorms robots integrated with a Stargate board developed by Crossbow as mobile robotic nodes.