Heterogeneous coverage method with multiple unmanned aerial vehicle assisted sink nodes

A heterogeneous coverage method with multiple unmanned aerial vehicle assisted sink nodes(MUAVSs) for multi-objective optimization problem(MOP) is proposed, which is based on quantum wolf pack evolution algorithm(QWPEA) and power law entropy(PLE) theory. The method is composed of preset move and autonomous coordination stages for satisfying non-repeated coverage, connectedness, and energy balance of sink layer critical requirements, which is actualized to cover sensors layer in large-scale outside wireless sensor networks(WSNs). Simulation results show that the performance of the proposed technique is better than the existing related coverage technique.