A Mobile Charging Scheduling Scheme with Obstacle Avoidance in Wireless Rechargeable Sensor Networks

Wireless rechargeable sensor networks have attracted wide attention in recent years due to the energy supply for sensor nodes. However, most of the previous works study wireless charging schemes take no account of practical conditions such as obstacles in the network area, which will increase the node failure rate. Therefore, a mobile charging scheduling scheme with obstacle avoidance is proposed in this paper. First, a task node selection algorithm is designed to fully utilize the energy budget for wireless charging. Then, a globally optimal charging path with obstacle avoidance is planned. Simulation results show that the obstacle avoidance function is realized and the proposed charging scheme effectively reduces the node failure rate by comparison.