At present, most underwater positioning algorithms improve the positioning accuracy by increasing the number of anchor nodes which resulting in the increasing energy consumption. To solve this problem, the paper propo...At present, most underwater positioning algorithms improve the positioning accuracy by increasing the number of anchor nodes which resulting in the increasing energy consumption. To solve this problem, the paper proposes a localization algorithm assisted by mobile anchor node and based on region determination(LMRD), which not only improves the positioning accuracy of nodes positioning but also reduces the energy consumption. This algorithm is divided into two stages: region determination stage and location positioning stage. In the region determination stage, the target region is divided into several sub-regions by the region division strategy with the smallest overlap rate which can reduce the number of virtual anchor nodes and lock the target node to a sub-region, and then through the planning of mobile nodes to optimize the travel path, reduce the moving distance, and reduce system energy consumption. In the location positioning stage, the target node location can be calculated using the HILBERT path planning and trilateration. The simulation results show that the proposed algorithm can improve the positioning accuracy when the energy consumption is reduced.展开更多
The optimization of network performance in a movement-assisted data gathering scheme was studied by analyzing the energy consumption of wireless sensor network with node uniform distribution. A theoretically analytica...The optimization of network performance in a movement-assisted data gathering scheme was studied by analyzing the energy consumption of wireless sensor network with node uniform distribution. A theoretically analytical method for avoiding energy hole was proposed. It is proved that if the densities of sensor nodes working at the same time are alternate between dormancy and work with non-uniform node distribution. The efficiency of network can increase by several times and the residual energy of network is nearly zero when the network lifetime ends.展开更多
Wireless sensor networks （WSNs） are based on monitoring or managing the sensing area by using the location information with sensor nodes. Most sensor nodes require hardware support or receive packets with location i...Wireless sensor networks （WSNs） are based on monitoring or managing the sensing area by using the location information with sensor nodes. Most sensor nodes require hardware support or receive packets with location information to estimate their locations, which needs lots of time or costs. In this paper we proposed a localization mechanism using a mobile reference node （MRN） and trilateration in WSNs to reduce the energy consumption and location error. The simulation results demonstrate that the proposed mechanism can obtain more unknown nodes locations by the mobile reference node moving scheme and will decreases the energy consumption and average ocation error.展开更多
For mobile anchor node static path planning cannot accord the actual distribution of node for dynamic adjustment. We take advantage of the high localization accuracy and low computational complexity of ad-hoc localiza...For mobile anchor node static path planning cannot accord the actual distribution of node for dynamic adjustment. We take advantage of the high localization accuracy and low computational complexity of ad-hoc localization system( AHLos)algorithm. This article introduces mobile anchor nodes instead of the traditional fixed anchor nodes to improve the algorithm. The result shows that, through introduce the mobile anchor node, the information of initial anchor nodes can be configured more flexible.Meanwhile,with the use of the approximate location and the transition path,the distance and energy consumption of the mobile anchor node is greatly reduced.展开更多
Nodes in a mobile computing system are vulnerable to clone attacks due to their mobility.In such attacks,an adversary accesses a few network nodes,generates replication,then inserts this replication into the network,p...Nodes in a mobile computing system are vulnerable to clone attacks due to their mobility.In such attacks,an adversary accesses a few network nodes,generates replication,then inserts this replication into the network,potentially resulting in numerous internal network attacks.Most existing techniques use a central base station,which introduces several difficulties into the system due to the network’s reliance on a single point,while other ways generate more overhead while jeopardising network lifetime.In this research,an intelligent double hashing-based clone node identification scheme was used,which reduces communication and memory costs while performing the clone detection procedure.The approach works in two stages:in the first,the network is deployed using an intelligent double hashing procedure to avoid any network collisions and then in the second,the clone node identification procedure searches for any clone node in the network.This first phase verifies the node prior to network deployment,and then,whenever a node wants to interact,it executes the second level of authentication.End-to-end delay,which is bound to increase owing to the injection of clone nodes,and packet loss,which is reduced by the double hashing technique,were used to evaluate the performance of the aforementioned approach.展开更多
To alleviate the localization error introduced by irregular sensor network deployment, a new mo bile path localization based on key nodes （MPLPK） protocol is proposed. It can recognize all con cave/convex nodes in t...To alleviate the localization error introduced by irregular sensor network deployment, a new mo bile path localization based on key nodes （MPLPK） protocol is proposed. It can recognize all con cave/convex nodes in the network as fixed anchor nodes, and simplify the following localization process based on these key nodes. The MPLPK protocol is composed of three steps. After all key nodes are found in the network, a mobile node applying improved minimum spanning tree （MST） algorithm is introduced to traverse and locate them. By taking the concave/convex nodes as anchors, the complexity of the irregular network can be degraded. And the simulation results demonstrate that MPEPK has 20% to 40% accuracy improvements than connectivity-based and anchor-free three-di- mensional localization （CATL） and approximate convex decomposition based localization （ACDL）.展开更多
In Wireless Sensor Network (WSNs), sensor nodes collect data and send them to a Base Station (BS) for further processing. One of the most issues in WSNs that researchers have proposed a hundred of technique to solve i...In Wireless Sensor Network (WSNs), sensor nodes collect data and send them to a Base Station (BS) for further processing. One of the most issues in WSNs that researchers have proposed a hundred of technique to solve its impact is the energy constraint since sensor nodes have small battery, small memory and less data processing with low computational capabilities. However, many researches efforts have focused on how to prolong the battery lifetime of sensor nodes by proposing different routing, MAC, localization, data aggregation, topology construction techniques. In this paper, we will focus on routing techniques which aim to prolonging the network lifetime. Hence, we propose an Energy-Efficient Routing technique in WSNs based on Stationary and Mobile nodes (EERSM). Sensing filed is divided into intersected circles which contain Mobile Nodes (MN). The proposed data aggregation technique via the circular topology will eliminate the redundant data to be sent to the Base Station (BS). MN in each circle will rout packets for their source nodes, and move to the intersected area where another MN is waiting (sleep mode) to receive the transmitted packet, and then the packet will be delivered to the next intersected area until the packet is arrived to the BS. Our proposed EERSM technique is simulated using MATLAB and compared with conventional multi-hop techniques under different network models and scenarios. In the simulation, we will show how the proposed EERSM technique overcomes many routing protocols in terms of the number of hops counted when sending packets from a source node to the destination (i.e. BS), the average residual energy, number of sent packets to the BS, and the number of a live sensor nodes verse the simulation rounds.展开更多
This paper considers an underwater acoustic sensor network with one mobile surface node to collect data from multiple underwater nodes,where the mobile destination requests retransmission from each underwater node ind...This paper considers an underwater acoustic sensor network with one mobile surface node to collect data from multiple underwater nodes,where the mobile destination requests retransmission from each underwater node individually employing traditional automatic-repeat-request(ARQ) protocol.We propose a practical node cooperation(NC) protocol to enhance the collection efficiency,utilizing the fact that underwater nodes can overhear the transmission of others.To reduce the source level of underwater nodes,the underwater data collection area is divided into several sub-zones,and in each sub-zone,the mobile surface node adopting the NC protocol could switch adaptively between selective relay cooperation(SRC) and dynamic network coded cooperation(DNC) .The difference of SRC and DNC lies in whether or not the selected relay node combines the local data and the data overheard from undecoded node(s) to form network coded packets in the retransmission phase.The NC protocol could also be applied across the sub-zones due to the wiretap property.In addition,we investigate the effects of different mobile collection paths,collection area division and cooperative zone design for energy saving.The numerical results showthat the proposed NC protocol can effectively save energy compared with the traditional ARQ scheme.展开更多
Usefulness of sensor network applications in human life is increasing day by day and the concept of wireless connection promises new application areas. Sensor network can be very beneficial in saving human life from t...Usefulness of sensor network applications in human life is increasing day by day and the concept of wireless connection promises new application areas. Sensor network can be very beneficial in saving human life from terrorist attacks causing explosion in certain areas leading to casualties. But realization of the sensor network application in explosive detection requires high scalability of the sensor network and fast transmission of the information through real time monitoring and control. In this paper a novel mechanism for explosive trace detection in any populated area by the use of mobile telephony has been described. The aim is to create a system that will assure common men, local population and above all the nation a secured environment, without disturbing their freedom of movement. It would further help the police in detection of explosives more quickly, isolation of suicide bombers, remediation of explosives manufacturing sites, and forensic and criminal investigation. To achieve this, the paper has projected an idea that can combine the strength of the mobile phones, the polymer sensor and existing cellular network. The idea is to design and embed a tiny cog-nitive radio sensor node into the mobile phone that adapts to the changing environment by analyzing the RF surroundings and adjusting the spectrum use appropriately. The system would be capable of detecting explo-sives within a defined territory. It would communicate the location of the detected explosives to the respec-tive service provider, which in turn would inform the law and enforcement agency or Police.展开更多
Abstract:Fog computing provides quality of service for cloud infrastructure.As the data computation intensifies,edge computing becomes difficult.Therefore,mobile fog computing is used for reducing traffic and the time...Abstract:Fog computing provides quality of service for cloud infrastructure.As the data computation intensifies,edge computing becomes difficult.Therefore,mobile fog computing is used for reducing traffic and the time for data computation in the network.In previous studies,software-defined networking(SDN)and network functions virtualization(NFV)were used separately in edge computing.Current industrial and academic research is tackling to integrate SDN and NFV in different environments to address the challenges in performance,reliability,and scalability.SDN/NFV is still in development.The traditional Internet of things(IoT)data analysis system is only based on a linear and time-variant system that needs an IoT data system with a high-precision model.This paper proposes a combined architecture of SDN and NFV on an edge node server for IoT devices to reduce the computational complexity in cloud-based fog computing.SDN provides a generalization structure of the forwarding plane,which is separated from the control plane.Meanwhile,NFV concentrates on virtualization by combining the forwarding model with virtual network functions(VNFs)as a single or chain of VNFs,which leads to interoperability and consistency.The orchestrator layer in the proposed software-defined NFV is responsible for handling real-time tasks by using an edge node server through the SDN controller via four actions:task creation,modification,operation,and completion.Our proposed architecture is simulated on the EstiNet simulator,and total time delay,reliability,and satisfaction are used as evaluation parameters.The simulation results are compared with the results of existing architectures,such as software-defined unified virtual monitoring function and ASTP,to analyze the performance of the proposed architecture.The analysis results indicate that our proposed architecture achieves better performance in terms of total time delay(1800 s for 200 IoT devices),reliability(90%),and satisfaction(90%).展开更多
The standard specification of IEEE 802.15.4 is called ZigBee Propocol. ZigBee protocol required security, low data transfer rate, power efficient network. In addition, the ZigBee mobility function makes the ZigBee net...The standard specification of IEEE 802.15.4 is called ZigBee Propocol. ZigBee protocol required security, low data transfer rate, power efficient network. In addition, the ZigBee mobility function makes the ZigBee network more interactive and multi-purpose. The ZigBee mobile node has a significant effect on network parameters, namely MAC delay, end-to-end delay, MAC throughput and network load. However, a particular significant ZigBee node affects network data traffic and reduces the strength of the Quality of Service (QoS). The key issues are to analyze the QoS in order to increase overall performance of the network. The study proposes a ZigBee network with the mobile node and fixed node based on a variety of MAC layer settings. The Riverbed Network Simulator (Academic Modeler Release 17.5) is used for configuring and simulating the ZigBee network in a variety of conditions. The simulation results show that ZigBee with a fixed node performs better than the ZigBee mobile node. The ZigBee network with fixed node produces a lower network load and a high ratio of successfully transmitted data. The analysis of this study allows the ZigBee network to be better designed.展开更多
Existing mobile robots mostly use graph search algorithms for path planning,which suffer from relatively low planning efficiency owing to high redundancy and large computational complexity.Due to the limitations of th...Existing mobile robots mostly use graph search algorithms for path planning,which suffer from relatively low planning efficiency owing to high redundancy and large computational complexity.Due to the limitations of the neighborhood search strategy,the robots could hardly obtain the most optimal global path.A global path planning algorithm,denoted as EDG*,is proposed by expanding nodes using a well-designed expanding disconnected graph operator(EDG)in this paper.Firstly,all obstacles are marked and their corners are located through the map pre-processing.Then,the EDG operator is designed to find points in non-obstruction areas to complete the rapid expansion of disconnected nodes.Finally,the EDG*heuristic iterative algorithm is proposed.It selects the candidate node through a specific valuation function and realizes the node expansion while avoiding collision with a minimum offset.Path planning experiments were conducted in a typical indoor environment and on the public dataset CSM.The result shows that the proposed EDG*reduced the planning time by more than 90%and total length of paths reduced by more than 4.6%.Compared to A*,Dijkstra and JPS,EDG*does not show an exponential explosion effect in map size.The EDG*showed better performance in terms of path smoothness,and collision avoidance.This shows that the EDG*algorithm proposed in this paper can improve the efficiency of path planning and enhance path quality.展开更多
基金supported by National Natural Science Foundation of China (Nos. U1806201, 61671261)Key Research and Development Program of Shandong Province (No. 2016GGX101007)+1 种基金China Postdoctoral Science Foundation (No. 2017T100490)University Science and Technology Planning Project of Shandong Province (Nos. J17KA058, J17KB154)
文摘At present, most underwater positioning algorithms improve the positioning accuracy by increasing the number of anchor nodes which resulting in the increasing energy consumption. To solve this problem, the paper proposes a localization algorithm assisted by mobile anchor node and based on region determination(LMRD), which not only improves the positioning accuracy of nodes positioning but also reduces the energy consumption. This algorithm is divided into two stages: region determination stage and location positioning stage. In the region determination stage, the target region is divided into several sub-regions by the region division strategy with the smallest overlap rate which can reduce the number of virtual anchor nodes and lock the target node to a sub-region, and then through the planning of mobile nodes to optimize the travel path, reduce the moving distance, and reduce system energy consumption. In the location positioning stage, the target node location can be calculated using the HILBERT path planning and trilateration. The simulation results show that the proposed algorithm can improve the positioning accuracy when the energy consumption is reduced.
基金Project(60873081)supported by the National Natural Science Foundation of ChinaProject(NCET-10-0787)supported by Program for New Century Excellent Talents in UniversityProject(11JJ1012)supported by the Natural Science Foundation of Hunan Province,China
文摘The optimization of network performance in a movement-assisted data gathering scheme was studied by analyzing the energy consumption of wireless sensor network with node uniform distribution. A theoretically analytical method for avoiding energy hole was proposed. It is proved that if the densities of sensor nodes working at the same time are alternate between dormancy and work with non-uniform node distribution. The efficiency of network can increase by several times and the residual energy of network is nearly zero when the network lifetime ends.
文摘Wireless sensor networks （WSNs） are based on monitoring or managing the sensing area by using the location information with sensor nodes. Most sensor nodes require hardware support or receive packets with location information to estimate their locations, which needs lots of time or costs. In this paper we proposed a localization mechanism using a mobile reference node （MRN） and trilateration in WSNs to reduce the energy consumption and location error. The simulation results demonstrate that the proposed mechanism can obtain more unknown nodes locations by the mobile reference node moving scheme and will decreases the energy consumption and average ocation error.
基金National Natural Science Foundations of China(Nos.U1162202,61203157)the Fundamental Research Funds for the Central Universities and Shanghai Leading Academic Discipline Project,China(No.B504)
文摘For mobile anchor node static path planning cannot accord the actual distribution of node for dynamic adjustment. We take advantage of the high localization accuracy and low computational complexity of ad-hoc localization system( AHLos)algorithm. This article introduces mobile anchor nodes instead of the traditional fixed anchor nodes to improve the algorithm. The result shows that, through introduce the mobile anchor node, the information of initial anchor nodes can be configured more flexible.Meanwhile,with the use of the approximate location and the transition path,the distance and energy consumption of the mobile anchor node is greatly reduced.
文摘Nodes in a mobile computing system are vulnerable to clone attacks due to their mobility.In such attacks,an adversary accesses a few network nodes,generates replication,then inserts this replication into the network,potentially resulting in numerous internal network attacks.Most existing techniques use a central base station,which introduces several difficulties into the system due to the network’s reliance on a single point,while other ways generate more overhead while jeopardising network lifetime.In this research,an intelligent double hashing-based clone node identification scheme was used,which reduces communication and memory costs while performing the clone detection procedure.The approach works in two stages:in the first,the network is deployed using an intelligent double hashing procedure to avoid any network collisions and then in the second,the clone node identification procedure searches for any clone node in the network.This first phase verifies the node prior to network deployment,and then,whenever a node wants to interact,it executes the second level of authentication.End-to-end delay,which is bound to increase owing to the injection of clone nodes,and packet loss,which is reduced by the double hashing technique,were used to evaluate the performance of the aforementioned approach.
基金Supported by the National Natural Science Foundation of China(No.61133016)the Sichuan Science and Technology Support Project(No.2013GZ0022)+1 种基金the Scientific Research Fund of Xinjiang Provincial Education Department(No.XJEDU2013128)the Technology Supporting Xinjiang Project(No.201491121)
文摘To alleviate the localization error introduced by irregular sensor network deployment, a new mo bile path localization based on key nodes （MPLPK） protocol is proposed. It can recognize all con cave/convex nodes in the network as fixed anchor nodes, and simplify the following localization process based on these key nodes. The MPLPK protocol is composed of three steps. After all key nodes are found in the network, a mobile node applying improved minimum spanning tree （MST） algorithm is introduced to traverse and locate them. By taking the concave/convex nodes as anchors, the complexity of the irregular network can be degraded. And the simulation results demonstrate that MPEPK has 20% to 40% accuracy improvements than connectivity-based and anchor-free three-di- mensional localization （CATL） and approximate convex decomposition based localization （ACDL）.
文摘In Wireless Sensor Network (WSNs), sensor nodes collect data and send them to a Base Station (BS) for further processing. One of the most issues in WSNs that researchers have proposed a hundred of technique to solve its impact is the energy constraint since sensor nodes have small battery, small memory and less data processing with low computational capabilities. However, many researches efforts have focused on how to prolong the battery lifetime of sensor nodes by proposing different routing, MAC, localization, data aggregation, topology construction techniques. In this paper, we will focus on routing techniques which aim to prolonging the network lifetime. Hence, we propose an Energy-Efficient Routing technique in WSNs based on Stationary and Mobile nodes (EERSM). Sensing filed is divided into intersected circles which contain Mobile Nodes (MN). The proposed data aggregation technique via the circular topology will eliminate the redundant data to be sent to the Base Station (BS). MN in each circle will rout packets for their source nodes, and move to the intersected area where another MN is waiting (sleep mode) to receive the transmitted packet, and then the packet will be delivered to the next intersected area until the packet is arrived to the BS. Our proposed EERSM technique is simulated using MATLAB and compared with conventional multi-hop techniques under different network models and scenarios. In the simulation, we will show how the proposed EERSM technique overcomes many routing protocols in terms of the number of hops counted when sending packets from a source node to the destination (i.e. BS), the average residual energy, number of sent packets to the BS, and the number of a live sensor nodes verse the simulation rounds.
基金supported in part by National Key Research and Development Program of China under Grants No.2016YFC1400200 and 2016YFC1400204National Natural Science Foundation of China under Grants No.41476026,41676024 and 41376040Fundamental Research Funds for the Central Universities of China under Grant No.220720140506
文摘This paper considers an underwater acoustic sensor network with one mobile surface node to collect data from multiple underwater nodes,where the mobile destination requests retransmission from each underwater node individually employing traditional automatic-repeat-request(ARQ) protocol.We propose a practical node cooperation(NC) protocol to enhance the collection efficiency,utilizing the fact that underwater nodes can overhear the transmission of others.To reduce the source level of underwater nodes,the underwater data collection area is divided into several sub-zones,and in each sub-zone,the mobile surface node adopting the NC protocol could switch adaptively between selective relay cooperation(SRC) and dynamic network coded cooperation(DNC) .The difference of SRC and DNC lies in whether or not the selected relay node combines the local data and the data overheard from undecoded node(s) to form network coded packets in the retransmission phase.The NC protocol could also be applied across the sub-zones due to the wiretap property.In addition,we investigate the effects of different mobile collection paths,collection area division and cooperative zone design for energy saving.The numerical results showthat the proposed NC protocol can effectively save energy compared with the traditional ARQ scheme.
文摘Usefulness of sensor network applications in human life is increasing day by day and the concept of wireless connection promises new application areas. Sensor network can be very beneficial in saving human life from terrorist attacks causing explosion in certain areas leading to casualties. But realization of the sensor network application in explosive detection requires high scalability of the sensor network and fast transmission of the information through real time monitoring and control. In this paper a novel mechanism for explosive trace detection in any populated area by the use of mobile telephony has been described. The aim is to create a system that will assure common men, local population and above all the nation a secured environment, without disturbing their freedom of movement. It would further help the police in detection of explosives more quickly, isolation of suicide bombers, remediation of explosives manufacturing sites, and forensic and criminal investigation. To achieve this, the paper has projected an idea that can combine the strength of the mobile phones, the polymer sensor and existing cellular network. The idea is to design and embed a tiny cog-nitive radio sensor node into the mobile phone that adapts to the changing environment by analyzing the RF surroundings and adjusting the spectrum use appropriately. The system would be capable of detecting explo-sives within a defined territory. It would communicate the location of the detected explosives to the respec-tive service provider, which in turn would inform the law and enforcement agency or Police.
文摘Abstract:Fog computing provides quality of service for cloud infrastructure.As the data computation intensifies,edge computing becomes difficult.Therefore,mobile fog computing is used for reducing traffic and the time for data computation in the network.In previous studies,software-defined networking(SDN)and network functions virtualization(NFV)were used separately in edge computing.Current industrial and academic research is tackling to integrate SDN and NFV in different environments to address the challenges in performance,reliability,and scalability.SDN/NFV is still in development.The traditional Internet of things(IoT)data analysis system is only based on a linear and time-variant system that needs an IoT data system with a high-precision model.This paper proposes a combined architecture of SDN and NFV on an edge node server for IoT devices to reduce the computational complexity in cloud-based fog computing.SDN provides a generalization structure of the forwarding plane,which is separated from the control plane.Meanwhile,NFV concentrates on virtualization by combining the forwarding model with virtual network functions(VNFs)as a single or chain of VNFs,which leads to interoperability and consistency.The orchestrator layer in the proposed software-defined NFV is responsible for handling real-time tasks by using an edge node server through the SDN controller via four actions:task creation,modification,operation,and completion.Our proposed architecture is simulated on the EstiNet simulator,and total time delay,reliability,and satisfaction are used as evaluation parameters.The simulation results are compared with the results of existing architectures,such as software-defined unified virtual monitoring function and ASTP,to analyze the performance of the proposed architecture.The analysis results indicate that our proposed architecture achieves better performance in terms of total time delay(1800 s for 200 IoT devices),reliability(90%),and satisfaction(90%).
文摘The standard specification of IEEE 802.15.4 is called ZigBee Propocol. ZigBee protocol required security, low data transfer rate, power efficient network. In addition, the ZigBee mobility function makes the ZigBee network more interactive and multi-purpose. The ZigBee mobile node has a significant effect on network parameters, namely MAC delay, end-to-end delay, MAC throughput and network load. However, a particular significant ZigBee node affects network data traffic and reduces the strength of the Quality of Service (QoS). The key issues are to analyze the QoS in order to increase overall performance of the network. The study proposes a ZigBee network with the mobile node and fixed node based on a variety of MAC layer settings. The Riverbed Network Simulator (Academic Modeler Release 17.5) is used for configuring and simulating the ZigBee network in a variety of conditions. The simulation results show that ZigBee with a fixed node performs better than the ZigBee mobile node. The ZigBee network with fixed node produces a lower network load and a high ratio of successfully transmitted data. The analysis of this study allows the ZigBee network to be better designed.
基金Supported by National Key Research and Development Program of China(Grant No.2022YFB4700402).
文摘Existing mobile robots mostly use graph search algorithms for path planning,which suffer from relatively low planning efficiency owing to high redundancy and large computational complexity.Due to the limitations of the neighborhood search strategy,the robots could hardly obtain the most optimal global path.A global path planning algorithm,denoted as EDG*,is proposed by expanding nodes using a well-designed expanding disconnected graph operator(EDG)in this paper.Firstly,all obstacles are marked and their corners are located through the map pre-processing.Then,the EDG operator is designed to find points in non-obstruction areas to complete the rapid expansion of disconnected nodes.Finally,the EDG*heuristic iterative algorithm is proposed.It selects the candidate node through a specific valuation function and realizes the node expansion while avoiding collision with a minimum offset.Path planning experiments were conducted in a typical indoor environment and on the public dataset CSM.The result shows that the proposed EDG*reduced the planning time by more than 90%and total length of paths reduced by more than 4.6%.Compared to A*,Dijkstra and JPS,EDG*does not show an exponential explosion effect in map size.The EDG*showed better performance in terms of path smoothness,and collision avoidance.This shows that the EDG*algorithm proposed in this paper can improve the efficiency of path planning and enhance path quality.
