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Journal of Robotics
Volume 2018, Article ID 1487908, 8 pages
Research Article

Method for Effectively Utilizing Node Energy of WSN for Coal Mine Robot

1Xuzhou Institute of Technology, Xuzhou, Jiangsu 221111, China
2School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou, Jiangsu 221116, China

Correspondence should be addressed to Xiliang Ma; moc.anis@818amlx

Received 3 October 2017; Accepted 13 December 2017; Published 11 January 2018

Academic Editor: L. Fortuna

Copyright © 2018 Xiliang Ma and Ruiqing Mao. 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.


As a special application scenario, the data collected by wireless sensor networks of coal mine robot is from vital and dangerous environment. Therefore, the nodes need to work as long as possible. In order to efficiently utilize the node energy of wireless sensor network, this paper proposes a self-organizing routing method for wireless sensor networks based on Q-learning. The method takes many factors into account, such as the hop number, distance, residual energy, and node communication loss and energy. Each node of the wireless sensor networks is mapped into an Agent. Periodic training is carried out to optimize the route choice. Each Agent chooses the optimal path for data transmission according to the calculated Q evaluation value. Simulation results show that the self-organizing sensor networks using Q-learning can balance the energy consumption of the nodes and prolong the lifetime of the networks.