As the technological breakthrough is made in wireless charging, the wireless rechargeable sensor networks (WRSNs) are finally proposed. In order to reduce the charging completion time, most existing works use the “mobilethen- charge” model—the Wireless charging vehicles (WCV) moves to the charging spot first and then charges nodes nearby. These works often aim to reduce the node’s movement delay or charging delay. However, the charging opportunities during the movement are overlooked in this model because WCV can charge nodes when it goes from one spot to the next. In order to use the charging opportunities, a speed grading method is proposed under the circumstance of variable WCV speed, which transformed the problem of final charging delay into a traveling salesman problem with speed grading. The problem was further solved by linear programming method. The simulation experiments show that, compared with the existing charging methods, the proposed method has a significant improvement in charging delay.
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