Obstacle-Presence Schemes for Mobile Anchor-Assisted Localization in Wireless Sensor Networks 

The importance of localization algorithms is due to their uses in various wireless sensor network applications. A single anchor movement can be used to aid in localization to reduce the cost of using multiple anchors or equipping sensor nodes with GPS units, but the main challenge here is choosing the best path of movement while avoiding potential obstacles. This paper proposes a path planning algorithm called Square Spiral with Obstacle Avoidance (SQSPOA) which allows a mobile anchor node to track an optimal path while broadcasting its current coordinates to the unknown sensor nodes. During its movement, the mobile anchor node faces many obstacles that may hinder its mobility; but as a result of the superiority of the proposed algorithm the mobile anchor can avoid these obstacles while still broadcasting its coordinates to sensor nodes. The performance of the proposed algorithm was evaluated at the presence of variable-sized obstacles and was compared with recent path planning algorithms. Simulation results proved the superiority of the proposed algorithm with respect to localization error, percent of localized sensor node and trajectory length.