1. Smooth Path Construction for Data Mule Tours in Wireless Sensor Networks By: Andrew Wichmann, Justin Chester, and Turgay Korkmaz

2. Wireless Sensor Networks

3. Mobile Sinks Data Collection Travelling Salesman Problem – Physical Constraints

4. Smooth Path Construction Problem

5. Algorithm

6. Step 1

7. Algorithm Step 2 Next Node Current Node Previous Node Angle Bisector Turn Circle γiγi δiδi

8. Algorithm Step 3

9. Algorithm Step 5

10. SIMULATION RESULTS

11. Simulation Setup MetricValue Sensed Area10,000 m x 1,000 m Transmission Range100 m Interarrival Rate1 event per second Simulation Duration30 seconds UAV Speed30 m/s Number of Gateways10, 25, 50, 100, 200 Wireless Standard802.11b Propagation DelayConstant Speed Propagation Delay Model Propagation LossFriis Propagation Loss Model MAC LayerNon-QoS and Ad-hoc

12. Simulation Results

17. Conclusion Add Physical Constraint to TSP Increases speed of collection Better Delivery Ratio

18. Equation of Arc