Nasrin Elyasi - Department of Computer Engineering, Kerman Branch, Islamic Azad University, Kerman, Iran
Omid Pourgalehdari - Department of Computer Science, Rafsanjan Branch, Islamic Azad University, Rafsanjan, Iran

Wireless sensor networks are often located in areas where access to them is difficult or dangerous. Today, in wireless sensor networks, cluster-based routing protocols by dividing sensor nodes into distinct clusters and selecting local head-clusters to combine and send information of each cluster to the base station and balanced energy consumption by network nodes, get the best performance in terms of increasing longevity and preservation network coverage as compared to other routine methods. Their main purpose is to control the danger area and transfer data to a sink. Therefore, connecting to sensor networks and coverage rate of controlled area is one of the most important concerns to achieve these goals. In this paper, to cluster wireless sensor networks, a method using the Imperialistcompetitive evolutionary algorithm is purposed that divides wireless sensor nodes into balanced clusters, in addition to, several mobile robots has been used for improving power dissipation of network, to assist in the transmission of sensor networks and improve network connectivity and coverage rate of the controlled area. In this research, the sensor network is based on an islets-based topology that has been used robots to detect and enhance connectivity and cover cavities that are largely around the sensors. The simulation results show that our new model can greatly improve the network coverage connectivity criteria. The simulation results show its successful performance in increasing longevity of the wireless sensor network.

wireless sensor networks, Robots, Imperialist Competitive Algorithm, connectivity, Network Coverage