Spiral Movement Deployment Mechanism for Obstacle-Resistance in Wireless Sensor Networks

This paper proposes a robot deployment algorithm that overcomes unpredicted obstacle, and employs a full-coverage deployment with the minimal number of sensor nodes. Without providing the location information, a spiral movement rule is proposed for robot efficiently deploying sensors to achieve power conservation and full-coverage purposes. Simulation results reveal that the proposed robot deployment algorithm outperforms most existing robot deployment mechanisms in power conservation and obstacle resistance, and therefore achieves the better deployment performance.