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;