Using mobile robots to collect data from wireless sensor network can reduce energy dissipation and this way improve network lifetime. Our problem is to plan paths for multiagent system to visit a set of sensor nodes in a sensing field with obstacles while minimizing the data collection time. Recontructing the path of an intruder in a guarded area is also a possible application of this technology. This paper applied a new approach for construct clusters of nodes that each robots must visiting. To design the clusters and visiting sequence of nodes a new algorithm is developed.