UAV Charging Path Planning Based on Adaptive Hover-Improved Particle Swarm Algorithm.

When the large number of sensors in wireless rechargeable sensor network (WRSNS), for the traditional one-to-one charging mode of low efficiency, put forward an adaptive hover charging algorithm AHPA, to minimize the charging time in the target area, using the improved particle swarm algorithm for path planning.First, the sensor network in the target area is fully covered based on the minimum circle coverage algorithm, and the initial charging and suspension position of UAV is determined by the minimum circle coverage algorithm.During the process of charging, UAV automatically adjusts the hover position in 3D space according to the sensor position and power state in the region.In the simulation experiments, this algorithm is compared with the one-to-one charging method, the cluster partition algorithm and the node hover genetic algorithm, the results show that this algorithm has obvious advantages in the charging completion time.