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ACI
19,3/4 Energy-efficient genetic algorithm
variants of PEGASIS for 3D
Wireless Sensor Networks
186 Aaqil Somauroo and Vandana Bassoo
Department of Electrical and Electronic Engineering, Faculty of Engineering,
Received 23 May 2019
Revised 8 July 2019
University of Mauritius, Reduit, Mauritius
Accepted 11 July 2019
Abstract
Due to its boundless potential applications, Wireless Sensor Networks have been subject to much research in
the last two decades. WSNs are often deployed in remote environments making replacement of batteries not
feasible. Low energy consumption being of prime requisite led to the development of energy-efficient routing
protocols. The proposed routing algorithms seek to prolong the lifetime of sensor nodes in the relatively
unexplored area of 3D WSNs. The schemes use chain-based routing technique PEGASIS as basis and employ
genetic algorithm to build the chain instead of the greedy algorithm. Proposed schemes will incorporate an
energy and distance aware CH selection technique to improve load balancing. Clustering of the network is also
implemented to reduce number of nodes in a chain and hence reduce delay. Simulation of our proposed
protocols is carried out for homogeneous networks considering separately cases for a static base-station inside
and outside the network. Results indicate considerable improvement in lifetime over PEGASIS of 817% and
420% for base station inside and outside the network respectively. Residual energy and delay performance are
also considered.
Paper type Original Article

1. Introduction
Breakthroughs in the field of microelectromechanical systems have led to the conception of
cheap and autonomous devices with sensing capabilities. These devices which are very small
in nature, are called sensor nodes. Nodes carry out collection of data from the environment
through sensing and monitoring. As transmission of data to the base station is a collaborative
effort, nodes form a network referred to as Wireless Sensor Network (WSN). Being
increasingly cost and size effective, WSNs have seen their application expand to include
vastly different areas ranging from enemy detection military applications to heart rate
monitoring in healthcare.

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Emerald Publishing Limited Bassoo, V. (2019), “Energy-efficient genetic algorithm variants of PEGASIS for 3D Wireless Sensor
e-ISSN: 2210-8327 Networks”, Applied Computing and Informatics. Vol. ahead-of-print No. ahead-of-print. https://10.1016/
p-ISSN: 2634-1964
DOI 10.1016/j.aci.2019.07.002 j.aci.2019.07.002. The original publication date for this paper was 13/07/2019.
 The block diagram of a sensor node is shown in Figure 1. Sensors are of various types and Energy-
measure some physical quantity such as temperature, motion, pressure and humidity. efficient genetic
Memory is needed to store intermediate sensor readings and also packets from other nodes.
The controller is tasked with collecting data from the sensors and processing it. It decides
algorithm
when and where by using routing protocols. It is also responsible for data aggregation. variants
Batteries provide the power source in a node and since WSNs are often deployed in remote
areas, they cannot be usually replaced or recharged. The transceiver is responsible for the
transmission and reception of data such that nodes can form a network. 187
As mentioned previously, batteries cannot be replaced making sensor nodes energy-
constrained devices. Hence, being as energy efficient as possible is of prime importance. To
this end, most research focus on energy efficient MAC and routing protocols. This paper will
be concerned with the development of power-aware routing protocols by adopting strategies
like clustering, data aggregation, multi-hop transmission to optimise network lifetime and
energy efficiency in WSN routing protocols.
One of the approaches in solving optimisation problems is the use of bio-inspired
algorithms that are modelled on processes and behaviours which occur in nature. These
algorithms are numerous and solve a wide variety of problems in WSNs [2]. This paper will
make use of genetic algorithm.
The proposed routing protocols bring the following contributions:
1. Clustering is implemented to reduce long chains and thus improve delay performance.
2. A genetic algorithm is used to build a near minimal length chain for transmission of
data.
3. A new cluster head (CH) selection mechanism is devised to improve load balancing in
diverse network types.
4. The extension of PEGASIS and variants to three-dimensions.
The remaining of the paper is organised as follows. Section 2 reviews literature on WSNs
and describes various existing routing protocols. Section 3 presents the system model and
proposed approach. Section 4 shows and discusses the obtained results. Section 5
concludes with an overall evaluation of the work and presents future research
opportunities.

Figure 1.
Wireless sensor node
block diagram [1].
ACI 2. Related works
19,3/4 2.1 PEGASIS
Lindsey and Raghavendra [3] suggest using a chain-based protocol called PEGASIS. The
chain is built such that all nodes are joined together using the greedy algorithm. This process
of chain building is essentially known as the Travelling Salesman Problem (TSP). It is
assumed that global knowledge of the whole network is available to all nodes. The chain
building is started at the sensor node located furthest from the BS. The greedy algorithm
188 entails finding a local minima at each step in a bid to eventually achieve a global minima. This
means that the start node will form the first segment of the chain by joining to the closest
node. This process repeats itself until finally reaching the end node. Chain reconstruction is
carried out in the same way at the death of a node.
A leader is selected randomly from the one of the nodes in the chain. The leader node is
responsible for transmission to the BS. It is important to note that the leader is rotated every
round in a round robin manner. To clearly explain this concept, a list of all nodes may be
considered. Once a node is selected as leader, it is crossed out on the list and it can only be
selected as leader again when a new list is used. This occurs only when all nodes have been
crossed out in the current list. In PEGASIS, data aggregation is carried out at every node
except for the nodes located at the two ends of the chain.
The transmission mechanism in PEGASIS is triggered by the use of a control token issued
by the leader and is passed on along the chain. To illustrate this, consider Figure 2 where C2 is
the leader node. The token is passed to C2 and then to C0. Node C0 will then return back the
token along with data to C1. C1 will in turn send data and the token to C2. After reception of
this data, C2 will pass the token to C4 along the chain and the same process which occurs at the
other end of the chain takes place here too. It is important to reiterate that data aggregation
occurs at every node except nodes at the end of the chain.

2.2 PEGASIS variants

PEGASIS is a classical protocol from which numerous variants have been developed to
minimise its limitations.
2.2.1 PEG-ant. To build the chain, the greedy algorithm is used in PEGASIS. However, this
chain is not optimal as it proceeds in a way that achieves local rather than global
minimisation. This process of chain building is essentially solving the Travelling Salesman
Problem (TSP). Guo et al. [5] propose PEG-Ant which uses ACO to build a smaller overall
chain to decease transmission distance and hence save energy.
ACO is a nature-inspired algorithm from ants. The latter communicate with each other by
releasing a substance called pheromone. The results highlight the clear superiority of using
ACO to build the chain over the greedy algorithm, showing a marked improvement in the
lifetime of the network. Other research have also made use of ACO to build the chain in
PEGASIS [6,7].
2.2.2 IEEPB. While the CH rotation mechanism in PEGASIS is helpful towards load
balancing, it does have some limitations. The nodes which are very far from the BS will
deplete their energy faster than the nodes closer to the BS even though they have been chosen
as the leader node the same number of times. To remedy to this problem, Feng et al. [8] used a

Figure 2.
Token passing
scheme [4].
method where both the residual energy of a node and its distance from the BS is considered. A Energy-
weighted score is obtained by the summation of a weighted energy and distance value. They efficient genetic
also state that a flexible weight for the energy and distance enables the application of this
method of leader selection to a wide variety of network situations with different requirements.
algorithm
2.2.3 CRBCC. The long chain in PEGASIS causes large delays. Zheng and Hu [9] propose variants
CRBCC which makes use of simulated annealing to build the chain. It also incorporates a
clustering mechanism which aims to break the single long chain into multiple ones thereby
reducing delay. Additionally, multihop inter-cluster communication is adopted as illustrated 189
in Figure 3. The results show a reduction in the energy consumption of CRBCC in contrast to
PEGASIS. It is also imperative to highlight the large improvement in delay performance for
networks of different sizes for CRBCC.
2.2.4 PEG-ACO vertical clustering. The PEGASIS variants discussed previously aim to
mitigate the limitations of PEGASIS. They address one, or at most two, of our stated
limitations. Ramluckun and Bassoo [10] propose a very elegant solution incorporating some
concepts from all three previously discussed protocols.
PEG-ACO Vertical Clustering makes use of clustering according to the x-coordinates of
nodes. A chain is built in every cluster by using ACO as shown in Figure 4. Multihop
transmission is adopted by CHs to send the data to the BS. All CH are chosen according to a
weighted score between energy and distance. The performance of the protocol is assessed
and improvements are obtained in lifetime, residual energy and delay. Another type of
clustering method, Horizontal Clustering which always elects the CH responsible for
transmission to BS in the uppermost cluster is also proposed. It is to be noted that the analysis
is carried out solely for homogeneous networks with a static BS situated outside the network.
While not always possible due to the nature of the application, having a BS inside the network
increases its lifetime. Hence this work will consider both cases separately.

2.3 3D WSN
Most routing protocols found in WSN literature consider routing protocols only in two
dimensions albeit the fact that we live in a 3D world. Roy and Mukherjee [11] remark that 3D
rather than 2D design is required for many applications. One example is the design of
underwater WSNs [12]. Other possible applications include deploying WSNs on trees with
varying heights, railway tunnels and underground mines [11]. WSNs deployed in uneven

Figure 3.
Clustering into
multiple chains [9].
ACI
19,3/4

190

Figure 4.
Vertical Clustering and
ACO chains [10].

terrains also fall under that category. Literature focuses on the coverage problem in 3D and
research on routing protocols is relatively sparse. Kohli et al. [13] and Baghouri et al. [14] both
propose extending LEACH to 3D. Hence, extension of PEGASIS to 3D would be a worthwhile
research opportunity to enhance energy efficiency in 3D applications. To the best of our
knowledge, this has not been carried out before.

2.4 Genetic algorithm

To solve the TSP in PEGASIS, a genetic algorithm will be used such that a near optimal chain
length is obtained. Genetic algorithm is easy to implement and also less computationally
expensive compared to techniques such as ACO [15]. It is inspired from nature and it attempts
to imitate the processes which take place in Darwinian evolution. A chromosome is used to
represent the solution and a population which contains multiple chromosomes is used. A
chromosome contains genes and in the context of TSP, a gene is an index representing a
specific node.
A solution is the list of nodes in a specific order. Adjacent nodes in the list are towns which
must be visited one after the other or, in the context of PEGASIS, nodes which are joined
together in the chain. The goodness of a solution is determined by a fitness function. In the
present case, it is simply the distance covered when touring the nodes in the order specified by
the chromosome.
In this paper, the GA will be applied to solve TSP in three dimensions. Also in the case of
protocols which use clustering, the GA will be applied to each cluster separately to find the
shortest chain length. In so doing, the overall chain length will be minimised aiding to
improve energy efficient in 3D WSNs.

3. Methodology
3.1 Network model
N sensor nodes are randomly dispersed (non-deterministic deployment) in a square field
whose length is M as shown in Figure 5 and with a static base station. Nodes are considered to
 Energy-
efficient genetic
algorithm
variants

191

Figure 5.
Network model of 100
nodes in a 100 m 3
100 m 3 100 m
3D space.

be static once deployed. All nodes are considered to have a fixed amount of energy Eo. All
parameters are specified in Section 3.7.

3.2 Radio and energy model

The first-order radio model shown in Figure 6 is used to calculate energy consumption of
communicating nodes. It is simple to implement and widely used in WSN literature [16].
Hence, comparisons to previous protocols are made easier and fairer.
Transmitter and receiver circuits need energy to be run. The latter is a function of the
number of bits (k) only [18].
ETx=Rx−elec ¼ Eelec 3 k (1)

where Eelec is the energy expended per bit to run the transmitter or receiver.
The transmission energy used by the amplifiers is a function of both the number of bits
and transmission distance (d) [18].


efs 3 k 3 d 2 ; if d < d0
ETx−amp ¼ (2)
emp 3 k 3 d 4 ; if d > d0

d0 is a threshold used to determine which fading model is used (free space or multipath) and is
given by:

Figure 6.
First-order radio
model [17].
 rffiffiffiffiffiffiffi
ACI efs
d0 ¼ (3)
19,3/4 emp

where efs and emp are constants which are used in the free-space and multipath model
respectively.
Hence, the total energy required for transmission is:


192 Eelec 3 k þ efs 3 k 3 d 2 ; if d < d0
ETx ¼ (4)
Eelec 3 k þ emp 3 k 3 d 4 ; if d > d0

The energy required for reception consists of energy required to run the circuitry only.
ERx ¼ Eelec 3 L (5)

The energy cost for data aggregation is [19]

EDA−tot ¼ s 3 k 3 Eda (6)

where Eda is the energy per bit expended in aggregating and s the number of signals being
aggregated.

3.3 Genetic algorithm

The GA is an iterative process. To find new solutions which may yield a better solution,
GA operators are applied on chromosomes at each iteration. The simplest GA operators
are [20]:
1. Selection This involves favouring the selection of solutions having better fitness.
2. Crossover This is similar to the reproduction process which takes place in evolution. It
involves taking more than one solution and combining them to produce a new
solution.
3. Mutation This entails modifying a portion of the solution and it helps to ensure
diversity in a population [21]. It consist of the following:
(a) Swap operation Two nodes are selected at random in the solution and their
positions are swapped. For instance, considering positions 2 and 5
a→b→c→d→e→f becomes a→e→c→d→b→f

(b) Flip operation Part of the solution is flipped randomly as illustrated below:
a → b → c → d → e → f becomes a → e → d → c → b → f after flipping at
positions 2 and 5

(c) Slide operation Part of the solution is selected randomly and it is ‘slid’ across to
modify the solution. For illustration, the part of the solution from position 2 to 5 is
considered.
a → b → c → d → e → f becomes a → c → d → e → b → f

An open source code was used to implement the GA for chain building Kirk [22]. It makes use
of selection and mutation. The steps in the GA algorithm are outlined below.
 1. Initialise the initial population. Energy-
The initial population contains multiple solutions which are generated in a random efficient genetic
manner. Variable globalMin indicates the shortest chain length that has been achieved
so far and it is assigned to infinity.
algorithm
variants
2. Calculate the fitness of each member of the population.
populationMin is assigned to infinity. populationMin is a variable which indicates the
best fitness value (smallest overall chain length) in the current population. 193
3. Record solution having best fitness in bestPopSolution.
bestPopSolution is a variable which records the best solution in the current
population. populationMin is assigned the value of best fitness.
4. If populationMin < globalMin, a new value globalMin is recorded as populationMin and
the globalBestSolution is recorded as bestPopSolution. Variable globalBestSolution
indicates the best solution which has been achieved so far.
5. The order of solutions in the population are randomised.
For instance, solution 1 can become solution 30 and so on.
6. For every four members of the population(solutions 1–4, 5–8 and so on), the best
solution is taken and the following steps are taken to create 4 new routes

(a) Create random route insertion points. These consist of 2 points which indicate
where a solution will be modified.
(b) The best solution of the initial 4 is taken as new route 1.
(c) Flip operation is applied to the best solution to create new route 2.
(d) Swap operation is applied to the best solution to create new route 3.
(e) Slide operation is applied to the best solution to create new route 4.
7. Hence, a new population is formed consisting of new solutions.
8. Steps 2 to 7 are repeated until the total number of iterations are completed.

3.4 Proposed CH selection

PEGASIS chooses its cluster head based upon a rotation policy. Whilst this somewhat aids in
load balancing, it still proves to be somewhat inefficient. Hence, numerous other methods
have been devised for choosing a more suitable CH. One method proposed by Ramluckun and
Bassoo [10] computes a weighted score from the distance to base station and residual energy
of the node which are both given weights. In the case of protocols with inter-cluster
transmission, the distance from nearest CH may be considered if the cluster is a secondary
cluster. Primary CH is hereby defined as the CH which transmits to the BS and the primary
cluster as one which contains the primary CH. Other CHs which do not transmit to the BS are
defined as secondary CHs. For ease of reference, the term CH for PEGASIS will be used
instead of Cluster Leader.
Ramluckun and Bassoo [10] use the same weight to select both a primary and secondary
CH. Additionally, the weights assigned were always equal to 0.5 to give residual energy and
distance an equal say in the CH selection process. Intuitively, it would appear that having
equal weights (0.5) for both energy and distance will yield best results. However, this is not
necessarily the case and hence a different approach will be used here. It entails using
ACI assigning different weights to determine primary CH and secondary CHs. Also, the weights
19,3/4 will not always be equal to 0.5.
Score for primary cluster-head
w2
ScoreðprimaryÞ ¼ w1 3 Eres ðprimary CH candidateÞ þ (7)
dBS

Score for secondary cluster-head

194
w4
ScoreðsecondaryÞ ¼ w3 3 Eres ðsecondary CH candidateÞ þ (8)
dnextCH

whereby
w1 þ w2 ¼ 1 (9)
w3 þ w4 ¼ 1 (10)

The distance dnextCH needs more clarification. The designation of the primary CH is carried
out first. Then the CHs of neighbouring clusters are selected one at a time. This is done by
moving to the right and left of the primary cluster (Vertical Clustering) or inwards and
outwards (Spherical Clustering). Naturally, if the primary CH is found at an edge cluster, CH
selection proceeds in one direction only. An edge cluster would be the leftmost or rightmost
cluster in Vertical Clustering. In the case of Spherical Clustering, it would be the innermost or
outermost cluster. Hence dnextCH is the distance to the neighbouring CH which has already
been elected.
The weights w1, w2, w3 and w4 are determined after extensive trial and error simulations.
Weights w1 and w3 are varied from 0.1 to 1 and the combination of weights which result in
the highest First Node Death (FND) is selected.

3.5 Proposed protocols

3.5.1 PEGASIS and PEG-GA. PEGASIS is extended to 3D by considering the third dimension
for chain building by the greedy algorithm. Otherwise CH selection and transmission remain
the same. PEG-GA is the same as PEGASIS except that genetic algorithm is used to build
the chain.
3.5.2 Vertical clustering. Vertical Clustering used in two-dimensional networks by
Ramluckun and Bassoo [10] is extended to three-dimensions which results in clusters in the
form of cuboids rather than rectangles. This is achieved by clustering according to the value
of x coordinate of nodes as shown in Figure 7. CH selection and data transmission occur
similarly to the 2D equivalent. The CH mechanism proposed in Section 3.4 is used. A chain is
built in each cluster using GA and data is routed to each CH similar to Pegasis. Then, multi-
hop inter-cluster transmission takes place left to right and right to left until the primary CH is
reached. The latter transmits to the BS.
Mathematically, the threshold for the C th cluster is given by:
ðC  1ÞM CM
<x< (11)
Ctotal Ctotal

where C is the C th cluster, Ctotal is the total number of clusters and x is the x coordinate
of nodes.
3.5.3 Spherical clustering. Spherical Clustering is carried out according to the distance of
nodes from the centre of the network. We consider an imaginary sphere of radius equal to the
distance of the furthest node from the centre of the network. The sphere has centre (M/2, M/2,
M/2) and is divided radially. Nodes are assigned a cluster according to between which radii of
 Energy-
efficient genetic
algorithm
variants

195

Figure 7.
Vertical Clustering (3
clusters).

the sphere they lie as illustrated in Figure 8. CH selection and data transmission occur
similarly to Vertical Clustering except that multi-hop transmission occur inwards or
outwards until primary CH is reached.
Mathematically, the threshold for the C th cluster is given by:
ðC  1ÞR CR
<r< (12)
Ctotal Ctotal

where R is the distance from the centre of the furthest node and r is the distance of nodes from
the centre.
3.5.4 Number of cluster selection. The main objective of clustering is to decrease the high
delay created by a large number of hops present in a long chain. Increasing, the number of
clusters in three-dimensional networks causes the number of inter-cluster communication to
generally increase. Consequently, the energy consumed per round also increases. Therefore, a
trade-off between delay and energy exhausted must be made. The average energy consumed
per node per round for the first 1000 rounds and the maximum delay is considered.

Figure 8.
Spherical Clustering (3
clusters).
ACI The total energy consumed is:
19,3/4 X
N X
N
Econsumed ¼ initial energy  residual energy (13)
X
N
¼ N 3 Eo  residual energy (14)
196 The average energy consumed per node per round for the first 1000 rounds is given by:
Econsumed at 1000 rounds
Eavg−1000 ¼ (15)
N 3 1000
3.5.5 Flowchart of proposed clustered protocol. Figure 9 indicates the main steps taking place
in the proposed clustered protocol.

Figure 9.
Main stages in
proposed clustered
protocol.
 3.5.6 Summary of proposed protocols. The main features of the proposed protocols have Energy-
been summarised in Table 1. efficient genetic
algorithm
3.6 Metrics variants
3.6.1 Lifetime. Network lifetime is an important metric which is concerned with the round
number at which a certain number of nodes still have energy left. It has been given a number
of definitions [23]. The following ones are considered in our study: 197
1. First time instant whereby any sensor node fully exhaust its energy. This is also
known as stability period or First Node Death (FND).
2. Time instant when a percentage of nodes remain operational in the network. When the
50% mark is considered, it is referred to as Half Node Death (HND).
3. Time instant at which all nodes are dead commonly referred to as Last Node Death
(LND).
As FND is the most important metric as many applications require all nodes to be alive to
function properly, the analysis of the results will heavily focus on it.
To illustrate the performance of our protocols in relation to this metric, a graph of number
of nodes alive against round number is plotted. Also, a table is provided to show the rounds at
which FND, HND and LND occur (Table 2).
3.6.2 Residual energy. Residual energy indicates the total amount of energy that remain
with the whole network. A graph of residual energy against round number is plotted in our
results. It helps to visualise the overall energy consumption by the network at different points
in time. The slope of the graph gives an indication of how much energy is spent at a particular
point in the lifetime of the network. An increase in the slope would indicate that energy is
expended more rapidly. As the lines on the graph may be very close to each other, two graphs

Routing Protocol Chain Building Clustering CH Selection

PEGASIS Greedy Algorithm None Round robin method

PEG-GA Genetic Algorithm None Round robin method Table 1.
PEG-GA Vertical Clustering Genetic Algorithm Vertical Energy-Distance (Section 3.4) Main features of
PEG-GA Spherical Clustering Genetic Algorithm Spherical Energy-Distance (Section 3.4) proposed protocols.

Parameter Value

N (number of nodes) 100

M (size of network) 100
Coordinates of BS (Inside) (50,50,50)
Coordinates of BS (Outside) (50,50,300)
k (packet size) 2000 bits
Eelec 50 nJ/bit
efs 10 pJ/m2
eemp 0.0013 pJ/bit/m4
Eda 5 nJ/bit/signal
E0 (initial energy) 0.5 J
C 1 ms Table 2.
Population size 100 Network and GA
Number of iterations 10000 Parameters.
ACI are presented. One graph will show the residual energy over the whole lifetime and the other
19,3/4 will be an enlarged version.
3.6.3 Load balancing. Load balancing is concerned with how well the routing protocol can
distribute the energy consumption equally among the different nodes. It can be assessed
using the percentage of residual energy of the whole network at FND [24]. A lower percentage
of residual energy at FND indicates better load balancing.
3.6.4 Delay. The delay is given by (Fei, et al., 2016; Ammari & Das, 2005; Ammari & Das,
198 2008 cited in [10]):
Delay ¼ ðTq þ Tp þ Td Þ 3 hops (16)
¼ c 3 hops (17)

where is Tq the queue delay per intermediate forwarder, Tp is the propagation delay, Td is the
transmission and hops is the number of hops from first node transmitting (at the end of a
chain) to the BS. The maximum delay of each routing protocol will be considered in the results
section.

3.7 Assumptions and simulation parameters

The following assumptions were made during simulation:
1. Nodes transmit k-bit data packets at regular interval (called round).
2. Nodes are assumed to have global knowledge of the network.
3. The sink performs clustering and uses GA for chain building and informs the nodes
about their neighbours.
4. All nodes are capable of sending data to the BS.
5. It is assumed that the energy required for transmission from one node to another is the
same in both directions. This is known as a symmetric channel.
6. Control frames have a much smaller size than data frames. Hence, the energy
expended in the transmission of control frames is negligible compared to that
expended in the transmission of data frames and is therefore neglected.

4. Results and discussion

4.1 Cluster size choice
Figures 10 and 11 show the maximum delay incurred by the proposed clustered protocols for
different number of clusters. These are valid for both BS inside and outside scenarios as the
clustering is the same for both protocols with the weight for CH selection being the
distinction.
As has been explained previously in Section 3.5.4, Eavg−1000 generally increases when
increasing the cluster size as depicted by Figures 12–15. Two cluster size from each protocol
was chosen, one which was more focused on minimising delay and the other one aimed at
minimising the average energy consumed per node per round. This is shown in Table 3. The
cluster size will be indicated in brackets for the clustered routing protocols. For instance,
PEG-GA Spherical Clustering(3) indicates spherical clustering with three clusters.

4.2 BS inside
Figure 16 and Table 4 show that PEG-GA and PEG-GA Vertical Clustering(3) perform best
with the latter outperforming the former by 31 rounds. PEGASIS shows very poor
 Energy-
efficient genetic
algorithm
variants

199

Figure 10.
Maximum delay in
PEG-GA Spherical
Clustering with
varying cluster size.

Figure 11.
Maximum delay in
PEG-GA Vertical
Clustering with
varying cluster size.

performance in terms of stability period, being inferior to PEG-GA Vertical Clustering(3) by

817%. This remarkably high percentage of improvement obtained is due to the greedy
algorithm performing even worse in 3D networks relative to 2D ones. Vertical Clustering
variants outperform their Spherical Clustering equivalent.
From Figures 17 and 18, it can be seen that PEG-GA performs best in terms of residual
energy having the least steep slope. PEG-GA expends less energy as it does not incur losses
in inter-cluster transmission as compared to the other clustered protocols. PEGASIS
performs the worse as the greedy chain results in a non-optimum chain length. It is
important to reiterate that the addition of a third dimension accentuates the difference
ACI
19,3/4

200

Figure 12.
Average energy spent
in PEG-GA Spherical
Clustering with
varying cluster size(BS
Inside).

Figure 13.
Average energy spent
in PEG-GA Vertical
Clustering with
varying cluster size(BS
Inside).

between the greedy and the GA chain length explaining the 804% increase in FND from
PEGASIS to PEG-GA.
It can be deduced from Table 5 that PEG-GA Vertical Clustering(3) performs best in terms
of load balancing. PEGASIS and PEG-GA have the worst performance as CH are selected in a
round robin fashion. PEG-GA Spherical Clustering(8) and PEG-GA Vertical Clustering(8)
result in some clusters having a few number of nodes. The latter have to share the burden of
inter-cluster transmission amongst themselves. Compared to clusters with considerably more
nodes, the clusters with fewer nodes must use the same nodes for inter-cluster transmission
more often, thus affecting load balancing in the whole network.
 Energy-
efficient genetic
algorithm
variants

201

Figure 14.
Average energy spent
in PEG-GA Spherical
Clustering with
varying cluster size(BS
Outside).

Figure 15.
Average energy spent
in PEG-GA Vertical
Clustering with
varying cluster size(BS
Outside).

Routing Protocol Cluster Size

BS In BS Out Table 3.
PEG-GA Spherical Clustering 3 and 8 3 and 8 Number of clusters
PEG-GA Vertical Clustering 3 and 9 3 and 9 selected.
ACI
19,3/4

202

Figure 16.
Alive nodes vs rounds
(3D BS Inside).

Routing Protocol FND HND LND

PEGASIS 236 1752 2160

PEG-GA 2133 2297 2932
PEG-GA Spherical Clustering(3) 1944 2268 2343
PEG-GA Spherical Clustering(8) 1603 2172 2239
Table 4. PEG-GA Vertical Clustering(3) 2164 2265 2324
Lifetime (3D BS Inside). PEG-GA Vertical Clustering(8) 1755 2127 2227

4.3 BS outside
Figure 19 and Table 6 once again show the very poor performance of PEGASIS in a 3D
environment as explained before and will result in the GA protocols exhibiting very high
percentage of improvement over it in terms of FND. Contrary to the BS inside case, PEG-GA is
not one of the better performing protocols in terms of FND. This is because of the method of
CH selection which is completely energy and distance oblivious. The CH has a high
transmission burden and will hence expend considerably more energy than in the BS Inside
case. If a CH’s energy level is low, this high energy expense is likely cause it to die. PEG-GA
Vertical Clustering(3) outperforms other protocols for FND with a 420% and a 42.7%
improvement over PEGASIS and PEG-GA respectively.
Figures 20 and 21 indicate that PEG-GA Vertical Clustering(3) is superior in terms of
residual energy. As it has only 3 clusters, it incurs less energy expense for inter-cluster
transmission. Additionally, it has a smaller overall chain length than the other protocols. In
three-dimensional networks, the chain length of PEG-GA is smaller than the overall chain
length in the clustered protocols. PEG-GA also does not have to cater for inter-cluster
transmission. Nevertheless, it is outperformed by the three of the other clustered protocols
due to the absence of a proper CH selection mechanism. PEG-GA Spherical Clustering(8),
 Energy-
efficient genetic
algorithm
variants

203

Figure 17.
Residual Energy vs
rounds (3D BS Inside).

Figure 18.
Residual Energy vs
rounds enlarged (3D
BS Inside)[Enlarged].
ACI despite having said selection mechanism, suffers from a long overall chain length. It can be
19,3/4 observed that Vertical Clustering is more adept than Spherical Clustering at producing a
smaller overall chain length for this particular network size and density.
Table 7 illustrates that PEG-GA Vertical Clustering(3) has the best load balancing
property. The Spherical Clustering protocols are inferior to their equivalent Vertical
Clustering protocols because of the uneven distribution of nodes in clusters. This causes the
same nodes to be more frequently used for inter-cluster transmission in some clusters. This
204

Routing Protocol Residual Energy(%)

PEGASIS 85.5
PEG-GA 7.0
Table 5. PEG-GA Spherical Clustering(3) 12.4
Percentage residual PEG-GA Spherical Clustering(8) 21.6
energy at FND (3D BS PEG-GA Vertical Clustering(3) 2.8
Inside Case). PEG-GA Vertical Clustering(8) 15.4

Figure 19.
Alive nodes vs rounds
(3D BS Outside).

Routing Protocol FND HND LND

PEGASIS 307 1163 1365

PEG-GA 1117 1579 1782
PEG-GA Spherical Clustering(3) 1574 1628 1678
Table 6. PEG-GA Spherical Clustering(8) 1469 1540 1589
Lifetime (3D BS PEG-GA Vertical Clustering(3) 1595 1647 1697
Outside). PEG-GA Vertical Clustering(9) 1544 1597 1647
 Energy-
efficient genetic
algorithm
variants

205

Figure 20.
Residual Energy vs
rounds (3D BS
Outside Case).

Figure 21.
Residual Energy vs
rounds (3D BS Outside
Case)[Enlarged].
ACI
19,3/4

Routing Protocol Residual Energy(%)

206 PEGASIS 73.5
PEG-GA 26.9
Table 7. PEG-GA Spherical Clustering(3) 1.6
Percentage residual PEG-GA Spherical Clustering(8) 2.7
energy at FND (3D BS PEG-GA Vertical Clustering(3) 1.5
Outside Case). PEG-GA Vertical Clustering(9) 1.6

effect is more noticeable for a larger number of clusters with a larger difference of residual
energy at FND (1.1%) observed between PEG-GA Spherical Clustering(8) and PEG-GA
Vertical Clustering(9).

5. Conclusion and future works

In this paper, a novel method of combining PEGASIS, clustering and genetic algorithm to
minimise transmission distance was proposed. A variable weight CH selection based on
distance and energy for better load balancing was adopted. A new version of PEGASIS is
adapted for 3D networks and variants of it were also proposed. Simulations in MATLAB
have shown the superiority and adequacy of our proposed protocols in terms of FND. This is
illustrated by PEG-GA Vertical Clustering(3) having improvements of 817% and 420% in
FND over PEGASIS for base station inside and outside the network respectively. These very
high percentages of improvement result from the very poor performance in 3D networks of
the greedy algorithm used by PEGASIS and these percentages show the need for our
proposed protocols. Residual energy, load balancing and delay performance were also shown
to be superior.
Future research could make clustering to be more effective. Instead of building each chain
separately after clustering, the whole problem could be formulated as the multiple travelling
salesman problem and then a metaheuristic can be applied to solve it so as to minimise overall
chain length further. Weights for CH selection are determined by trial and error. An algorithm
like Particle Swarm Optimisation with a suitable fitness function could be developed to
facilitate weight selection. Heterogeneous networks and mobility of nodes and base station
are also areas that could be explored.

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Corresponding author
Vandana Bassoo can be contact at: [email protected]
208

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