Path planning based on artificial potential field method, particle swarm optimization algorithm and fuzzy logic controller for navigation in static and dynamic environments. Two schemes of motion controller are used. The first scheme is based on PID controller and second scheme is based on fuzzy logic controller. The PID controller parameters and parameters of membership functions have been optimized by using particle swarm optimization (PSO) algorithm.

WSNs consist of a large number of nodes that communicate using a wireless medium. Batteries are used to provide the nodes with the required power to operate their circuits. Replacement of batteries is impossible, in most cases, as the network is deployed in a large scale. Therefore, techniques that prolong the nodes lifetime are required. A sensor node consumes energy in different activities like sensing, processing and communication. The maximum amount of energy is used in communication module. Therefore, development of proper transmission power control algorithm contributes in reducing...