Skip to Main Content
Node deployment is an important issue in wireless sensor networks (WSNs). Sensor nodes should be efficiently deployed in a predetermined region in a low-cost and high-coverage-quality manner. Random deployment is the simplest way to deploy sensor nodes but may cause unbalanced deployment and, therefore, increase hardware costs and create coverage holes. This paper presents the efficient obstacle-resistant robot deployment (ORRD) algorithm, which involves the design of a node placement policy, a serpentine movement policy, obstacle-handling rules, and boundary rules. By applying the proposed ORRD, the robot rapidly deploys a near-minimal number of sensor nodes to achieve full sensing coverage, even though there exist unpredicted obstacles with regular or irregular shapes. Performance results reveal that ORRD outperforms the existing robot deployment mechanism in terms of power conservation and obstacle resistance and, therefore, achieves better deployment performance.