| 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. |