A Mobile Data Gathering Framework for Wireless Rechargeable Sensor Networks with Vehicle Movement Costs and Capacity Constraints

Several recent works have studied mobile vehicle scheduling to recharge sensor nodes via wireless energy transfer technologies. Unfortunately, most of them overlooked important factors of the vehicles' moving energy consumption and limited recharging capacity, which may lead to problematic schedules or even stranded vehicles. In this paper, we consider the recharge scheduling problem under such important constraints. To balance energy consumption and latency, we employ one dedicated data gathering vehicle and multiple charging vehicles. We first organize sensors into clusters for easy data collection, and obtain theoretical bounds on latency. Then we establish a mathematical model for the relationship between energy consumption and replenishment, and obtain the minimum number of charging vehicles needed. We formulate the scheduling into a Profitable Traveling Salesmen Problem that maximizes profit - the amount of replenished energy less the cost of vehicle movements, and prove it is NP-hard. We devise and compare two algorithms: a greedy one that maximizes the profit at each step; an adaptive one that partitions the network and forms Capacitated Minimum Spanning Trees per partition. Through extensive evaluations, we find that the adaptive algorithm can keep the number of nonfunctional nodes at zero. It also reduces transient energy depletion by 30-50 percent and saves 10-20 percent energy. Comparisons with other common data gathering methods show that we can save 30 percent energy and reduce latency by two orders of magnitude.