Abstract
With the emergence of wireless rechargeable sensor networks (WRSNs), the possibility of wirelessly recharging nodes using mobile charging vehicles (MCVs) has become a reality. However, existing approaches overlook the effective integration of node energy replenishment and mobile data collection processes. In this paper, we propose a joint energy replenishment and data collection scheme (D-JERDG) for WRSNs based on deep reinforcement learning. By capitalizing on the high mobility of unmanned aerial vehicles (UAVs), D-JERDG enables continuous visits to the cluster head nodes in each cluster, facilitating data collection and range-based charging. First, D-JERDG utilizes the K-means algorithm to partition the network into multiple clusters, and a cluster head selection algorithm is proposed based on an improved dynamic routing protocol, which elects cluster head nodes based on the remaining energy and geographical location of the cluster member nodes. Afterward, the simulated annealing (SA) algorithm determines the shortest flight path. Subsequently, the DRL model multiobjective deep deterministic policy gradient (MODDPG) is employed to control and optimize the UAV instantaneous heading and speed, effectively planning UAV hover points. By redesigning the reward function, joint optimization of multiple objectives such as node death rate, UAV throughput, and average flight energy consumption is achieved. Extensive simulation results show that the proposed D-JERDG achieves joint optimization of multiple objectives and exhibits significant advantages over the baseline in terms of throughput, time utilization, and charging cost, among other indicators.