A Route Planning Method Using Cost Map for Mobile Sensor Nodes

In this paper, we propose a route planning method for mobile sensor nodes using cost map. The proposed method achieves novel route planning that can solve several practical problems from previous works: the limitations of sensing ranges, obstacles on the node's routes, and restriction of their movements. This method can determine the route that has the lowest power consumption. We also propose a sensing area defining method for dealing with many kinds of sensors. Furthermore, we compared the proposed method to A*algorithm, a well-known route planning algorithm. We implemented a prototype of the sensor node to verify our algorithm in a real environment.