Obstacle-free robot deployment algorithm for wireless sensor networks

It is an important issue to deploy sensors on the monitor area for wireless sensor networks. There are many researches about this issue, and they address how to achieve efficient coverage. This paper also provides a robot-deployment algorithm that overcomes obstacles and employs full-coverage deployment, however, there are some differences between previous researches. A single robot deploys sensor one by one according to the decided x and y coordinates; the first deployed sensor and the last deployed sensor are neighbor. The scheme can be applied to the deployed area with polygon boundaries. Once entering the monitor region, the robot can avoid the obstacles to deploy sensor efficiently with full coverage, and then leave the monitor region from the Exit which is next to the Entry. Therefore, our proposed has the stroke characteristic. The accuracy of the deployment scheme is derived by Hamiltonian Cycle. It is very suitable for the robot deployment algorithm in wireless sensor application.