Obstacle-avoidance path planning of a mobile beacon for localisation

Location is important for most wireless sensor network applications. A potential localisation method uses a mobile beacon instead of numerous static beacons. This method includes planning a beacon trajectory as a fundamental and interesting problem. Obstacles in practical scenarios often restrict the free locomotion of beacons. This study examines the obstacle-avoidance path-planning method, which consists of three stages. First, the network deployment region is partitioned into cells by adaptive cell decomposition, and the corresponding connectivity graph is constructed. Second, a modified max-min ant system algorithm is provided to obtain the approximate shortest global path that covers the connectivity graph. Finally, a sequence of concentric circles of adjustable radii is utilised as the local path within an obstacle-free cell. We prove that all sensor nodes deployed in obstacle-free cells can be localised by using the proposed path. Simulation results show that more than 90% of the sensor nodes in the obstacle-free region can be localised by using the given trajectory.