Intelligent Obstacle-Free Robot in Sensor Networks

Abstract

In order to efficiently deploy sensor nodes in sensor networks, a novel obstacle-free robot deployment algorithm called OFRDA is proposed. OFRDA adopts efficient node placement, spiral movement and obstacle surrounding movement policies to achieve purposes of power conservation and full coverage with fewer sensors deployed by robot. Detailed simulation results and comparisons with other algorithm show that the proposed OFRDA algorithm significantly reduces the number of deployed sensors to achieve full coverage purpose for a given monitoring field, resists to obstacles and movement bias, and outperforms the existing robot deployment algorithms in terms of moving distance and power consumption.