Effective and Adaptive Energy Restoration in WRSNs by a Mobile Robot

Abstract

The use of a mobile charger (MC) is a popular method to restore energy in wireless rechargeable sensor networks(WRSN), whose effectiveness depends critically on the recharging strategy employed by the MC. In this thesis, we propose a novel on-line recharging mechanism strategy, called Continuous Local Learning (CLL), which predicts the current energy level of the sensor nodes and dynamically updates the schedule to visit the nodes before their batteries get depleted. The strategy is based on simple computations done by the MC with little memory requirements, and the communication is strictly local (between the MC and neighbouring nodes). In spite of its simplicity, this strategy was experimentally shown to be highly effective in keeping the network perpetually operating, ensuring that the number of sensing holes (i.e., non-operational sensors due to battery depletion) and their duration are very small at any time, and achieving immortality (i.e., no node ever becoming nonoperational) under many settings even in large networks. We also studied the flexibility of CLL under a variety of network parameters, showing its applicability in various contexts. We particularly focused on network size, data rate, sensors’ battery-capacity, and speed of the MC, and studied their impact on operational size and disconnection time under a wide range of values. The experiments indicate the fact that the effectiveness of CLL holds under all considered settings. We then compared the proposed solution with the popular class of static strategies since they share with CLL the features of simplicity, strict local communication and small memory and computational requirements. Experimental results showed that CLL outperforms these strategies in effectiveness. Not only is the number of sensors that are operational at any time higher under CLL, but the average duration of a sensing hole is also significantly lower. Finally, we studied the adaptability of CLL to a network’s sudden changes, in particular changes in data rate, which we call spikes. We studied the impact of spikes parameters on the performance of CLL. Experimental results showed that CLL is capable of reacting and adapting to these sudden changes with only a slight increase in non-operational size and disconnection time.