Research On Path Planning Algorithm Of Multiple Mobile Chargers Based On Multi-Objective Optimization

Energy limitation has traditionally been a problem restricting the large-scale application of Wireless Sensor Network(WSN).How to effectively charge the sensor nodes has attracted more attention.Some scholars have proposed to deploy one or more mobile chargers(MCs)in the network to charge the sensor nodes.Nowadays,most of the researches on the charging path planning focus on single MC,but few studies on multiple MCs(multi-MCs).In addition,the current research on the charging path planning of multi-MCs only considers one performance index.In this thesis,the multi-MCs charging path planning research is studied.Considering the energy utility and the balance of charging tasks of multi-MCs,the multi-MCs charging path planning problem based on multi-objective optimization is studied.Firstly,it is assumed that the multi-MCs charge all the sensor nodes in a round of charging schedule.The full coverage charging model is established and the set of sensor nodes served by each MC is determined.To maximize the energy utilization of multi-MCs and balance the charging tasks undertaken by multi-MCs,the multi-objective full coverage charging planning problem based on multi-objective optimization is proposed,and then this thesis proposes the full coverage charging path planning algorithm(FCCPA)to solve this problem.The experimental results show that the objective value of energy utility obtained by FCCPA is up to 33.49%,which is 6.15%,2.54% and 5.45% higher than MOEA/D,MOFWA and Schedule Algorithm,respectively.The obtained median value of charging tasks balance performance is 16.97%,2.35% and 19.33% better than MOEA/D,MOFWA and Schedule Algorithm,respectively.Furthermore,the multi-MCs only charge the sensor nodes with the charging requirements.The on-demand charging path planning problem of multi-MCs is studied.The sensor node will send the charging request to the service station when its remaining life falls below a certain threshold,and then the service station will respond to the charging request according to the dynamic demand response strategy based on response priority and plans the charging path for the multi-MCs.Based on the energy consumption rate prediction model of the sensor nodes,an on-demand charging model of multi-MCs is given,and then a two-stage optimization strategy is proposed.On the basis of dynamic demand response strategy,jointly considering maximizing the energy utilization and balancing the charging task of multi-MCs,a multi-MCs on-demand charging path planning algorithm(MDCPA)is proposed to solve the on-demand charging path planning problem of multi-MCs.Through experiments and data analysis,the objective value of energy utility obtained by MDCPA reaches 63.14%,which is 3.41% and 1.15% better than MOEA/D and MOFWA,respectively.The optimal balance value of charging task of multi-MCs obtained by MDCPA reaches 7.58,which is 16.34% and 35.93% better than MOEA/D and MOFWA,respectively.The experiments results show that the MDCPA has better performance in improving the energy utilization and balancing the charging tasks of multi-MCs.