Voronoi-Based Indoor Deployment of Mobile Sensors Network with Obstacles

Efficient deployment of wireless sensor network (WSN) is one of the key challenges of the Internet of Things (IoT), and one where self-organizing processes and adaptation to obstacle-rich environments are critical. We developed a Voronoi tessellation based algorithm, BISON (Bio-inspired Self-organized Network), designed to insert and self-deploy nodes of WSN into any unknown, obstacle rich indoor environment, satisfying both, the coverage and the connectivity demands. To limit the power consumption and simulate realistic real-time environment discovery, BISON confines each node to use only locally sensed information, while avoiding obstacles and connecting with neighboring nodes. The algorithm is assessed in terms of the critical deployment evaluation metrics: the area coverage and distance traveled. The results reveal fast convergence to a fully connected network with low deployment costs.