Square grid Path Planning for Mobile Anchor-Based Localization in Wireless Sensor Networks

Localization is to provide all sensor nodes with their geographical positions. A mobile anchor-based localization in WSNs uses a mobile anchor equipped with GPS, which travels along a predetermined path. At each specified beacon point, it broadcasts its current known position to help other sensor nodes with unknown locations estimate their positions. In this paper, we analyze the determination of beacon points based on a square grid. We propose an improved path planning model named Union-curve. Our proposed model incorporates all beacon points of five previously developed paths, namely, SCAN, HILBERT, S-type, Z-curve, and $\Sigma$-Scan on the commonly used square grid decomposition of area. Unknown sensor nodes estimate their positions using two techniques, APT and WCWCL-RSSI. Simulation results show that the proposed model has higher accuracy, with a big difference in error rate compared to the other models. In addition, this model guarantees maximum coverage with less path resolution value.