在本篇文章中，我們提出了一種延長大型無線傳感器網絡（WSN）壽命的方法，該方法是通過適當部署具有能量收集功能的無人機來進行數據收集。為了促進數據收集，我們形成了多個叢集來分擔從 WSN 上傳信息數據的負擔。與文 獻不同的是，我們的方法允許具有最低能量級別的感測器節點被選為簇頭（CH），並由無人機進行充電。現有研究主要關注於減少無人機的行駛距離，但往往忽視了無人機的充電效率。為了解決這一問題，我們的論文提出了一種針對大規模 WSNs 的高效無人機充電軌跡方案。我們制定了一個雙目標優化問題， 旨在最大限度地減少失效節點數量並提高無人機的充電效率。為了解決這個問 題，我們提出了一系列算法。首先，我們先針對簇頭做軌跡的設計，其中包含了軌跡粗調與軌跡微調，接著，以完整資料收集為目的進一步提出演算法減少失效叢集頭的數量，最後，再提出次要節點的概念，在不干擾叢集頭性能的同時利用剩餘的無人機電量盡可能為其餘節點充電，以此更進一步降低節點失效個數的同時讓 UAV 充電效率提升。

In this paper, we propose a method to extend the lifetime of wireless sensor networks (WSNs) by appropriately deploying UAVs with energy harvesting capabilities for data collection. To facilitate data collection, multiple clusters are formed to share the burden of uploading information data from the WSN. Different from literature, our approach allows sensor nodes with the lowest energy levels to be selected as cluster heads (CHs) and recharged by UAVs. Current research mainly focuses on reducing UAV travel distance, often neglecting their charging efficiency. To address this issue, our paper proposes an efficient UAV charging trajectory scheme for WSNs. We formulate a dual-objective optimization problem aimed at minimizing the number of dead nodes and maximize the charging efficiency of UAVs. To solve this problem, we propose a series of algorithms. First, we design the trajectory for the cluster heads, which includes coarse adjustment and fine adjustment of the trajectory. Next, With the aim of ensuring complete data collection, we further propose an algorithm to reduce the number of failed cluster heads. Finally, we introduce the concept of secondary nodes. Without affecting CHs and data integrity, we use the remaining UAV energy to charge as many other nodes as possible, further reducing the number of failed nodes while improving the UAV’s charging efficiency.

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