2D Self-Deployment of A Jumping Sensor Network

Deployment of sensor network has an important influence on the network performance. This paper proposes the 2D self-deployment of a jumping sensor network (JSN) with miniature bio-inspired jumping robots as the sensor nodes. The jumping robot sensor nodes (JRSNs) join a ZigBee network and communicate with the coordinator during the deployment. The node can jump continuously with autonomous self-righting and steering capabilities. The positioning and navigation of the node are realized by using the Ultra Wide Band (UWB) technology and a 9-axis inertial sensor. The path planning and dynamic adjustment algorithms were proposed for the 2D deployment. We conducted multi-jump motion and self-deployment experiments of a single JRSN on the outdoor concrete floor. The multi-jump motion test results verified the stability and repeatability of the jump locomotion of the node. The deployment error of the node was within 25cm which is small enough and acceptable in some applications like environment monitoring. The results verify the feasibility and accuracy of the 2D self-deployment function of the JSN.