** initialization** |

(1) *←*0; |

(2) set the maximum cycle index ; |

(3) determine the initial position of corresponding centroid |

of and neighbor nodes set . |

(4) while () do |

(5) renew the current coordinate position of centroid ; |

(6) determine the repulsion force acting on centroid from other nodes according to formula (10) and (11) |

(7) if ) then |

(8) * *determine the later target location of centroid decided by the resultant repulse force actions on |

* * centroid and node single rotation angle |

(9)* * * *calculate the coverage impact factor of angle rotation this time according to Formula (8) |

(10)* * * *if , proceed the angle rotation, else remain the sensing direction unchanged |

(11) else break; |

(12) *← * |

(13) end. |