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.
Algorithm 1