Deployment Algorithms for Coverage Improvement in a Network of Mobile Sensors with Measurement Error in the Presence of Obstacles

In this work, a novel Voronoi-based diagram is introduced which assigns a distinct region to each sensor in the presence of obstacles such that the regions are mutually disjoint and if one sensor cannot cover a point inside its region, no other sensor can detect it either. The proposed diagram called obstructed guaranteed additively weighted (OGAW) Voronoi diagram is the main tool for developing the sensor deployment algorithms in a network of mobile sensors with nonidentical sensing ranges in the presence of obstacles. Then, two algorithms are developed to improve the prioritized coverage when the exact location of sensors is not available due to measurement error. The developed algorithms are iterative, and in each iteration each sensor calculates its new location based on the value of a priority function of the points inside the corresponding OGAW Voronoi region and moves toward it such that the overall weighted coverage of the network is increased. Simulation results confirm the effectiveness of the developed algorithms.