The path-planning problem is commonly formulated to handle the obstacle avoidance constraints. This problem becomes more complicated when further restrictions are added. It often requires efficient algorithms to be solved. In this paper, a new approach is proposed where the path is described by means of Non Uniform Rational B-Splines (NURBS for short) with more additional constraints. An evolutionary technique called Particle Swarm Optimization (PSO) with three options of particles velocity updating offering three alternatives namely the PSO with inertia weight (PSO-W), the constriction factor PSO (PSO-C) and the combination of the two(PSO-WC); are used to optimize the weights of the control points that serve as parameters of the algorithm describing the path. Simulation results show how the mixture of the first two options produces a powerful algorithm, specifically (PSO-WC), in producing a compromise between fast convergence and large number of potential solution. In addition, the whole approach seems to be flexible, powerful and useful for the generation of successful smooth trajectories for robot manipulator which are independent from environment conditions.

In wireless sensor networks, one of the most important constraints is the low power consumption requirement. For that reason, several hierarchical or cluster-based routing methods have been proposed to provide an efficient way to save energy during communication. However, their main challenge is to have efficient mechanisms to achieve the trade-off between increasing the network lifetime and accomplishing acceptable transmission latency. In this paper, we propose a novel protocol for cluster-based wireless sensor networks called PEAL (Power Efficient and Adaptive Latency). Our simulation results show that PEAL can extend the network lifetime about 47% compared to the classic protocol LEACH (Low-Energy Adaptive Clustering Hierarchy) and introduces an acceptable transmission latency compared to the energy conservation gain.

In wireless sensor networks, one of the most important constraints is the low power consumption requirement. For that reason, several hierarchical or cluster-based routing methods have been proposed to provide an efficient way to save energy during communication. However, their main challenge is to have efficient mechanisms to achieve the trade-off between increasing the network lifetime and accomplishing acceptable transmission latency. In this paper, we propose a novel protocol for cluster-based wireless sensor networks called PEAL (Power Efficient and Adaptive Latency). Our simulation results show that PEAL can extend the network lifetime about 47% compared to the classic protocol LEACH (Low-Energy Adaptive Clustering Hierarchy) and introduces an acceptable transmission latency compared to the energy conservation gain.

In wireless sensor networks, one of the most important constraints is the low power consumption requirement. For that reason, several hierarchical or cluster-based routing methods have been proposed to provide an efficient way to save energy during communication. However, their main challenge is to have efficient mechanisms to achieve the trade-off between increasing the network lifetime and accomplishing acceptable transmission latency. In this paper, we propose a novel protocol for cluster-based wireless sensor networks called PEAL (Power Efficient and Adaptive Latency). Our simulation results show that PEAL can extend the network lifetime about 47% compared to the classic protocol LEACH (Low-Energy Adaptive Clustering Hierarchy) and introduces an acceptable transmission latency compared to the energy conservation gain.

In wireless sensor networks, one of the most important constraints is the low power consumption requirement. For that reason, several hierarchical or cluster-based routing methods have been proposed to provide an efficient way to save energy during communication. However, their main challenge is to have efficient mechanisms to achieve the trade-off between increasing the network lifetime and accomplishing acceptable transmission latency. In this paper, we propose a novel protocol for cluster-based wireless sensor networks called PEAL (Power Efficient and Adaptive Latency). Our simulation results show that PEAL can extend the network lifetime about 47% compared to the classic protocol LEACH (Low-Energy Adaptive Clustering Hierarchy) and introduces an acceptable transmission latency compared to the energy conservation gain.

In wireless sensor networks, one of the most important constraints is the low power consumption requirement. For that reason, several hierarchical or cluster-based routing methods have been proposed to provide an efficient way to save energy during communication. However, their main challenge is to have efficient mechanisms to achieve the trade-off between increasing the network lifetime and accomplishing acceptable transmission latency. In this paper, we propose a novel protocol for cluster-based wireless sensor networks called PEAL (Power Efficient and Adaptive Latency). Our simulation results show that PEAL can extend the network lifetime about 47% compared to the classic protocol LEACH (Low-Energy Adaptive Clustering Hierarchy) and introduces an acceptable transmission latency compared to the energy conservation gain.

In wireless sensor networks, one of the most important constraints is the low power consumption requirement. For that reason, several hierarchical or cluster-based routing methods have been proposed to provide an efficient way to save energy during communication. However, their main challenge is to have efficient mechanisms to achieve the trade-off between increasing the network lifetime and accomplishing acceptable transmission latency. In this paper, we propose a novel protocol for cluster-based wireless sensor networks called PEAL (Power Efficient and Adaptive Latency). Our simulation results show that PEAL can extend the network lifetime about 47% compared to the classic protocol LEACH (Low-Energy Adaptive Clustering Hierarchy) and introduces an acceptable transmission latency compared to the energy conservation gain.

In wireless sensor networks, one of the most important constraints is the low power consumption requirement. For that reason, several hierarchical or cluster-based routing methods have been proposed to provide an efficient way to save energy during communication. However, their main challenge is to have efficient mechanisms to achieve the trade-off between increasing the network lifetime and accomplishing acceptable transmission latency. In this paper, we propose a novel protocol for cluster-based wireless sensor networks called PEAL (Power Efficient and Adaptive Latency). Our simulation results show that PEAL can extend the network lifetime about 47% compared to the classic protocol LEACH (Low-Energy Adaptive Clustering Hierarchy) and introduces an acceptable transmission latency compared to the energy conservation gain.