Wireless rechargeable sensor networks with a charging unmanned aerial vehicle (CUAV) have the broad application prospects in the power supply of the rechargeable sensor nodes (SNs). However, how to schedule a CUAV and design the trajectory to improve the charging efficiency of the entire system is still a vital problem. In this paper, we formulate a joint-CUAV scheduling and trajectory optimization problem (JSTOP) to simultaneously minimize the hovering points of CUAV, the number of the repeatedly covered SNs and the flying distance of CUAV for charging all SNs. Due to the complexity of JSTOP, it is decomposed into two optimization subproblems that are CUAV scheduling optimization problem (CSOP) and CUAV trajectory optimization problem (CTOP). CSOP is a hybrid optimization problem that consists of the continuous and discrete solution space, and the solution dimension in CSOP is not fixed since it should be changed with the number of hovering points of CUAV. Moreover, CTOP is a completely discrete optimization problem. Thus, we propose a particle swarm optimization (PSO) with a flexible dimension mechanism, a K-means operator and a punishment-compensation mechanism (PSOFKP) and a PSO with a discretization factor, a 2-opt operator and a path crossover reduction mechanism (PSOD2P) to solve the converted CSOP and CTOP, respectively. Simulation results evaluate the benefits of PSOFKP and PSOD2P under different scales and settings of the network, and the stability of the proposed algorithms is verified.

Unmanned aerial vehicle (UAV)-enabled wireless powered communication networks (WPCNs) are promising technologies in 5G/6G wireless communications, while there are several challenges about UAV power allocation and scheduling to enhance the energy utilization efficiency, considering the existence of obstacles. In this work, we consider a UAV-enabled WPCN scenario that a UAV needs to cover the ground wireless devices (WDs). During the coverage process, the UAV needs to collect data from the WDs and charge them simultaneously. To this end, we formulate a joint-UAV power and three-dimensional (3D) trajectory optimization problem (JUPTTOP) to simultaneously increase the total number of the covered WDs, increase the time efficiency, and reduce the total flying distance of UAV so as to improve the energy utilization efficiency in the network. Due to the difficulties and complexities, we decompose it into two sub optimization problems, which are the UAV power allocation optimization problem (UPAOP) and UAV 3D trajectory optimization problem (UTTOP), respectively. Then, we propose an improved non-dominated sorting genetic algorithm-II with K-means initialization operator and Variable dimension mechanism (NSGA-II-KV) for solving the UPAOP. For UTTOP, we first introduce a pretreatment method, and then use an improved particle swarm optimization with Normal distribution initialization, Genetic mechanism, Differential mechanism and Pursuit operator (PSO-NGDP) to deal with this sub optimization problem. Simulation results verify the effectiveness of the proposed strategies under different scales and settings of the networks.

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