Optimal 2D-LiDAR-Sensor Coverage of a Room

This work presents a novel concept for achieving optimal coverage of an unspecified room using 2D-LiDAR (Light Detection and Ranging) sensors. The primary goal is to maximize coverage with the fewest possible sensors. We present an algorithm that determines the ideal locations for these sensors, which are all mounted on the floor by the walls. By dividing the room into a grid with adjustable cell sizes (e.g., 10x10 cm), the algorithm marks all grid cells detected by each potential sensor location. This process is repeated for all possible locations. Based on the resulting coverage map, the algorithm calculates the minimum number of required sensors and their optimal positions. An application case for this approach is movement and fall detection using 2D-LiDAR.