A Self-deployment Scheme for Mobile Sensor Network with Obstacle Avoidance

In our previous study, we showed that the coverage area can be efficiently expanded by having sensors move to the centroids of their Voronoi polygon generated using the location information of neighboring sensors. In this paper, we present an energy-efficient self-deployment scheme to utilize the attractive force generated from the centroid of a sensor's local Voronoi polygon as well as the repulsive force frequently used in self-deployment schemes using the potential held. By using the proposed scheme, mobile sensors also have the obstacle-avoidance capability. The simulation results show that our scheme can achieve a higher coverage and enables less sensor movements in shorter times in a region with obstacles than self-deployment schemes using the traditional potential field.