Obstacles avoidance charging schedule for multiple mobile charging vehicles in wireless rechargeable sensor networks

The integration of wireless power transfer technology into mobile charging vehicles (MCVs) opens up new possibilities for wirelessly recharging the batteries of sensor nodes (SNs). Thereby, it extends the lifespan of wireless rechargeable sensor networks (WRSNs). However, devising optimal charging schedules with MCVs is challenging, especially with obstacles. In this paper, we introduce an approach to enhance the efficiency of charging operations within WRSNs. The proposed method considers several key factors, such as charging requirements, the presence of multiple MCVs, and the challenges posed by obstacles. Our strategy determines charging sequences based on collective charging preferences. The allocation of charging partitions is facilitated by clustering, leveraging the locations and energy consumption rates of SNs with each MCV in a partition. Furthermore, we employ an obstacle avoidance algorithm to address scheduling issues when obstacles are encountered. Extensive simulations are conducted to validate the proposed methodology.