The invention discloses a WRSN charging method and
system based on the lowest
energy consumption of an unmanned aerial vehicle, and the method comprises the following steps: S1, taking the minimization of the
total energy consumption of the unmanned aerial vehicle as a target, constructing a flight-hovering-based charging problem, and decomposing the flight-hovering-based charging problem into a minimization flight
energy consumption problem and a minimization charging
energy consumption problem; s2, aiming at the problem of minimizing charging energy consumption, providing an adaptive charging strategy based on flight and hovering charging
modes, and carrying out joint optimization on the charging mode, the
flight speed and the charging coverage
radius when the unmanned aerial vehicle executes a charging task; s3, for a minimum flight energy consumption problem, decomposing the problem into an optimal non-charging
flight speed determination problem and a minimum
flight distance problem through a function
decomposition mode; the optimal non-charging
flight speed is obtained through a tangent method, and the problem of minimum
flight distance is solved through a
genetic algorithm. According to the invention, the
total energy consumption of the unmanned aerial vehicle during the charging task can be effectively reduced, and the
time complexity is relatively low.