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However, real\u2010world environments often contain obstacles with signal\u2010blocking characteristics. Random collision methods cannot guarantee that sensors receive sufficient localization information, resulting in the generation of many redundant beacon points by MANs. To achieve complete localization coverage and improve localization accuracy, we propose a path planning and optimization algorithm called M\u2010ANCHORO. The proposed algorithm divides subregions based on obstacle distribution information and deploys beacon points in equilateral triangles. It then uses the SCAN method to plan a fully localized coverage path and optimizes the number of beacon points using a path simplification procedure to establish a trajectory for full localization coverage. Experimental results showed that M\u2010ANCHORO outperformed Z\u2010curve, SLMAT, and SCAN in terms of localization accuracy and coverage.<\/jats:p>","DOI":"10.1155\/2024\/7347796","type":"journal-article","created":{"date-parts":[[2024,8,30]],"date-time":"2024-08-30T10:50:31Z","timestamp":1725015031000},"source":"Crossref","is-referenced-by-count":0,"title":["M\u2010ANCHORO: Mobile Anchor Node\u2010Based Path Optimization for Full Coverage Path Planning Algorithm"],"prefix":"10.1155","volume":"2024","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8643-9772","authenticated-orcid":false,"given":"Rong-Guei","family":"Tsai","sequence":"first","affiliation":[]},{"given":"Jixin","family":"Zhao","sequence":"additional","affiliation":[]},{"given":"Yicong","family":"Yu","sequence":"additional","affiliation":[]},{"given":"Di","family":"Lin","sequence":"additional","affiliation":[]},{"given":"Anxuan","family":"Hong","sequence":"additional","affiliation":[]},{"given":"Chengzhu","family":"Lin","sequence":"additional","affiliation":[]},{"given":"Xiaolan","family":"Chen","sequence":"additional","affiliation":[]},{"given":"Delin","family":"Luo","sequence":"additional","affiliation":[]},{"given":"Lin","family":"Lin","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2024,8,30]]},"reference":[{"key":"e_1_2_9_1_2","doi-asserted-by":"publisher","DOI":"10.1109\/MCOM.2002.1024422"},{"key":"e_1_2_9_2_2","first-page":"1","article-title":"Localization techniques and their challenges in underwater wireless sensor networks","volume":"3","author":"Beniwal M.","year":"2015","journal-title":"International Journal of Engineering Research & Technology"},{"key":"e_1_2_9_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/COMST.2014.2320073"},{"key":"e_1_2_9_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/COMST.2016.2544751"},{"key":"e_1_2_9_5_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.inffus.2013.06.003"},{"key":"e_1_2_9_6_2","unstructured":"Chipcon CC1000 low power radio transceiver http:\/\/www.chipcon.com."},{"key":"e_1_2_9_7_2","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2014.2322958"},{"key":"e_1_2_9_8_2","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2010.2049391"},{"key":"e_1_2_9_9_2","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2012.2218100"},{"key":"e_1_2_9_10_2","doi-asserted-by":"publisher","DOI":"10.1109\/TETC.2017.2687319"},{"volume-title":"Computers and Intractability: A Guide to the Theory of NP-Completeness","year":"1979","author":"Garey M. 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