Dynamic coverage of mobile multi-target in sensor networks based on virtual force

A distributed self-control coverage method for mobile multi-target based on virtual force(MMTVF) is proposed to monitor dynamic targets using a mobile sensor network(MSN). The dynamic coverage method is introduced to maintain network connectivity and optimize the coverage of moving targets. The method consists of two parts, one is the virtual force model which is proposed for motion control, and the other is the whale optimization algorithm which is improved to optimize node positions and achieve a steady state quickly. The virtual resultant force stretches the network towards uncovered targets using its multi-target attractive force, maintains network connectivity during network stretching using its attractive force, and prevents node collisions while nodes are moving using its repulsive force. The operating mechanism of the multi-target attractive force and other forces is thoroughly analyzed. Adjustment criteria for the model in different application scenarios are also provided. The comparisons demonstrate MMTVF has significant advantages over other similar approaches.