Getting Obstacle Avoidance Trajectory of Mobile Beacon for Localization

Localization is one of the most important technologies in wireless sensor network, and mobile beacon assisted localization is a promising localization method. The mobile beacon trajectory planning is a basic and important problem in these methods. There are many obstacles in the real world, which obstruct the moving of mobile beacon. This paper focuses on the obstacle avoidance trajectory planning scheme. After partitioning the deployment area with fixed cell decomposition, the beacon trajectory are divided into global and local trajectory. The approximate shortest global trajectory is obtained by depth-first search, greedy strategy method and ant colony algorithm, while local trajectory is any existing trajectories. Simulation results show that this method can avoid obstacles in the network deployment area, and the smaller cell size leads to longer beacon trajectory and more localizable sensor nodes.