WSNs distributed sensing of mobile robot under the irregular topology of underground pipe gallery

As a irregular structure, the underground pipe gallery can reach tens of kilometres. Wireless sensor networks (WSNs) integrated with mobile robots can be used for monitoring it. It is worth noting that a mobile robot needs to mark its corresponding position. Hence, this paper proposes a WSNs distributed sensing model. Within the communicable radius, the anchor node set is firstly solved by combining motion characteristics of the mobile robot. Then dual mapping between wireless parameters and robot positions is established in irregular topology. Following that, the wireless distributed cooperative sensing model is derived using node probability sensing model. The numerical results show that the proposed sensing model can improve the sensing rate, especially when the number of anchor nodes and the length and width direction of underground pipe gallery change. The proposed model can meet the tedious daily monitoring requirements and provide useful reference for similar environments such as subway and coal mine.