感測器部署問題是一個非常重要的研究議題於無線感測網路之中。一般而言，感測器通常是採用飛機或直升機灑落的方式來部署於場景。然而此種部署方式並無法確保感測器一定可以精準的落在我們所期待的位置上。如此一來，不可避免的將需要透過撒落大量的感測器來確保感測網路可以達到我們所需要的覆蓋程度。為了減少佈建感測網路所需之感測器數量，有學者提出可以透過移動機器人來協助搬運、部署感測器。藉由移動機器人將感測器放置在適當的位置，將可以有效地減少部署感測網路所需之感測器數量。過往研究在探討此問題時，主要是在探討如何規劃出較短的行走路徑來完成感測網路之佈建。然而我們發現過往所提出的方法，在路徑規劃長度上仍有改進的空間。因此在本研究當中，我們將提出一個新的部署路徑規劃演算法來解決上述之感測器部署問題。 The sensor deployment problem is an important issue in Wireless Sensor Networks (WSNs). Sensors are usually deployed by aircraft/helicopter airdrop. To achieve coverage requirement, a greater number of sensors may be needed. Therefore, researchers have proposed to use a mobile robot to relocate the redundant sensors. This problem is also called the carrier-based sensor deployment problem. Most research of this problem focuses on how to plan a shorter traveling path for the mobile robot to relocate the redundant sensors. However, we find that the length of the traveling path planned by the existing algorithms can be further reduced. In this study, we will focus on how to shorten the length of traveling path for the mobile robot to relocate the redundant sensors in WSNs.
