Unmanned aerial vehicle charging path planning method applied to wireless sensor network

The invention discloses an unmanned aerial vehicle charging path planning method applied to a wireless sensor network. The method comprises the following steps: constructing a two-dimensional plane wireless rechargeable sensor network model; the wireless rechargeable sensor network model comprises a plurality of base stations, an unmanned aerial vehicle and sensor nodes; based on the wireless rechargeable sensor network model, performing unmanned aerial vehicle charging initial path planning by using a genetic algorithm to obtain an unmanned aerial vehicle charging initial path; determining an unmanned aerial vehicle charging stop point through a vertical line method in combination with the unmanned aerial vehicle charging initial path; and obtaining an unmanned aerial vehicle charging path through the unmanned aerial vehicle charging stop point in combination with the genetic algorithm. According to the method, through accurate path planning and charging point positioning, meaningless flight of the unmanned