A route planning method for multiple mobile sensor nodes

We have proposed a route planning method for a mobile sensor node using cost map. The proposed method achieves novel path planning that can solve several practical problems in conventional work: limitations of sensing areas, barricades on nodespsila paths, and restrictions on nodespsila movements. In this research, we propose a route planning method that can avoid collisions. Moreover, we also propose a query language to specify required sensing data. The proposed method effectively allocates multiple sensor nodes, and we show its effectiveness through simulation study.