RESUMO
A challenging rescue task for the underground disaster is to guide survivors in getting away from the dangerous area quickly. To address the issue, an escape guidance path developing method is proposed based on anisotropic underground wireless sensor networks under the condition of sparse anchor nodes. Firstly, a hybrid channel model was constructed to reflect the relationship between distance and receiving signal strength, which incorporates the underground complex communication characteristics, including the analytical ray wave guide model, the Shadowing effect, the tunnel size, and the penetration effect of obstacles. Secondly, a trustable anchor node selection algorithm with node movement detection is proposed, which solves the problem of high-precision node location in anisotropic networks with sparse anchor nodes after the disaster. Consequently, according to the node location and the obstacles, the optimal guidance path is developed by using the modified minimum spanning tree algorithm. Finally, the simulations in the 3D scene are conducted to verify the performance of the proposed method on the localization accuracy, guidance path effectiveness, and scalability.