Research Article
Multirobot Federating Method for Disjoint Segments in Wireless Sensor Network Based on Optimal Anchor Point and Local Priority
Algorithm 2
Optimal Anchor Point Selection.
Input the isolated island set and the isolated island center set in the local area network L | Output optimal anchor point,optimal path | 1 E ← initialize the energy state of the node; | 2 ←calculate the node degree of the node according to the graph G; | 3 node suitability fit←0; | 4 for i =1 to t | 5 dis←calculate the distance between the center of the | Current islandand the center of other islands; | 6 for j =1 to m; | 7 dt←calculate the distance from each node | In the islandto all nodes in another island; | 8 if dt < dis | 9 cand←; | 10 suitability fit←fit + dtdistance weight; | 11 fit←fit+ proportionElife status weight | 12 end if | 13 end for | 14 anc←max(fit); | 15 ancList←is added to the set of optimal anchor | Points; | 16 end for | 17 connect the two corresponding anchor points in | ancList to get the optimal path; |
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