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International Journal of Distributed Sensor Networks
Volume 2012 (2012), Article ID 715261, 12 pages
Research Article

A Path Planning Algorithm with a Guaranteed Distance Cost in Wireless Sensor Networks

1Institute of Computer Science and Technology, Soochow University, Suzhou 215006, China
2State Key Laboratory for Novel Software Technology, Nanjing University, Nanjing 210093, China

Received 11 July 2012; Accepted 28 August 2012

Academic Editor: Yong Sun

Copyright © 2012 Yuanchao Liu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Navigation with wireless sensor networks (WSNs) is the key to provide an effective path for the mobile node. Without any location information, the path planning algorithm generates a big challenge. Many algorithms provided efficient paths based on tracking sensor nodes which forms a competitive method. However, most previous works have overlooked the distance cost of the path. In this paper, the problem is how to obtain a path with minimum distance cost and effectively organize the network to ensure the availability of this path. We first present a distributed algorithm to construct a path planning infrastructure by uniting the neighbors’ information of each sensor node into an improved connected dominating set. Then, a path planning algorithm is proposed which could produce a path with its length at most times the shortest Euclidean length from initial position to destination. We prove that the distributed algorithm has low time and message complexity and is no more than a constant. Under different deployed environments, extensive simulations evaluate the effectiveness of our work. The results show that factor c is within the upper bound proved in this paper and our distributed algorithm achieves a smaller infrastructure size.