Optimal maintenance of sensor nodes in a Wireless Rechargeable Sensor Network (WRSN) requires effective scheduling of power delivery vehicles by solving the Charging Scheduling Problem (CSP). Deploying Unmanned Aerial Vehicles (UAVs) as mobile chargers has emerged as a promising solution due to their mobility and flexibility. The CSP can be formulated as a Mixed-Integer Non-Linear Programming problem whose optimization objective is maximizing the recharged energy of sensor nodes within the UAV battery constraint. While many studies have demonstrated satisfactory performance of heuristic algorithms in addressing specific routing problems, few studies explore online updating (i.e., mission re-planning `on the fly') in the CSP context. Here we present a new offline and online mission planner leveraging a first-principles power consumption model that uses real-time state information and environmental information. The planner, namely Rapid Online Metaheuristic-based Planner (ROMP), supplements solutions from a Guided Local Search (GLS) with our Context-aware Black Hole Algorithm. Our results demonstrate that ROMP outperforms GLS in most cases tested. We developed and proposed FastROMP to speed up the online mission (re-)planning algorithm by introducing a new online adjustment operator that uses the latest state information as input, eliminating the need for re-initialization. FastROMP not only provides a better quality route, but it also significantly reduces computational time. The reduction ranges from 39.57% in sparse deployment to 93.3% in denser deployments.

翻译：无线可充电传感器网络（WRSN）中传感器节点的最优维护需要通过解决充电调度问题（CSP）来有效调度能量传输载体。部署无人机（UAV）作为移动充电器因其机动性和灵活性而成为一种有前景的解决方案。CSP可建模为混合整数非线性规划问题，其优化目标是在无人机电池约束下最大化传感器节点的充电能量。尽管许多研究已证明启发式算法在解决特定路由问题上的满意性能，但少有研究探索CSP背景下的在线更新（即任务实时重规划）。本文提出一种新型离线与在线任务规划器，其利用基于第一性原理的功耗模型，结合实时状态信息与环境信息。该规划器即快速在线元启发式规划器（ROMP），通过我们的上下文感知黑洞算法补充引导局部搜索（GLS）的解决方案。结果表明，在大多数测试案例中，ROMP性能优于GLS。我们开发并提出了FastROMP，通过引入一种利用最新状态信息作为输入的新型在线调整算子，消除了重新初始化的需求，从而加速在线任务（重）规划算法。FastROMP不仅提供更优质量的路径，还显著降低了计算时间，在稀疏部署中降幅为39.57%，在密集部署中最高可达93.3%。