Optimization of Average Distance Based Self-relocation Algorithm Using Augmented Lagrangian Method

Mobile robots with sensors installed on them are used in wireless sensor networks to generate information about the area. These mobile robotic sensors have to relocate themselves after initial location in the field to gain maximum coverage The average distance based algorithm for relocation process of mobile sensors does not require any GPS system for tracking the robotic sensors, thus avoiding cost, but increasing energy consumption. Augmented Lagrangian method is introduced in average distance based algorithm to reduce the extra energy consumption by sensors in average distance based relocation process. This modified average distance relocation scheme also improves the coverage area and the time taken by mobile robotic sensors to come to their final positions.