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Step 2: Look for the shortest grid path link to the sink node, implementation method showed in section 3.5.2.
When collecting the measurement in a WSN, each projection y ( ϑ p ) [ m ] can then be computed by accumulating measurements throughout a specific, suitably tilted, grid path.
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This paper presents a set of novel modifications that can be applied to any grid-based path planning algorithm from the A* family used in mobile robotics.
Tiago Pereira do Nascimento, Pedro Costa, Paulo G. Costa, António Paulo Moreira and André Gustavo Scolari Conceição introduce a set of modifications applicable to any grid-based path planning algorithm from the A* family in mobile robotics.
Block distance, which is also known as Manhattan distance, computes the distance that would be traveled to get from one data point to the other if a grid-like path is followed.
Therefore, an approach based on algorithms from the A* family for highly dynamic and crowded environments, as well as the modifications for the grid-based path planning algorithm, are presented in the next section.
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Through ns-2 simulation, we conducted performance comparisons with other routing protocols in static grid networks: shortest path routing (SPR) and CPL, where CPL is a gradient routing using the cumulative path load only.
While the query is disseminated over the grid, a reverse path is established towards sink and data is sent to the sink via this reverse path.
Indeed, the power grid offers redundant paths in case of void in main power supply path.
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