Multi-objective path planning algorithm for mobile charger in wireless rechargeable sensor networks

Wireless Rechargeable Sensor Networks based on wireless energy transmission successfully solve the problem of node death caused by energy shortage in traditional wireless sensor networks. Existing studies on joint energy replenishment and data collection have planned charging path first and then perform data collection. This approach does not effectively extend network life and improve network performance in data collection. In this paper, we jointly consider the impact of energy replenishment and data collection on network performance and use the Least Squares Support Vector Machine based regression prediction with dynamically changing energy consumption rate and data generation rate of sensor nodes. To solve the above problem, we propose a multi-objective path planning model for joint energy replenishment and data collection with the optimization objectives of maximizing the remaining lifetime of sensor nodes, maximizing the data collection of MC, and minimizing the amount of data loss. The conventional exact algorithm is difficult to solve the path planning problem, so heuristic algorithms have gradually become the main algorithm to solve the problem. Based on discrete fireworks algorithm and co-evolutionary algorithm, we present a grid-based multi-objective cooperation fireworks algorithm. Simulation results show that the proposed algorithm performs better in convergence and diversity. In terms of the average remaining lifetime of sensor nodes, the proposed algorithm is 0.43%, 0.52%, 1.97%, and 0.81% higher than MPACO, MODFA, NSGA-II, and SPEA-II, respectively. Similarly, the target value of solutions in data collection increased by 1.87%, 1.22%, 4.49%, and 2.10%, respectively.