Collaborative Energy Optimization of Multiple Chargers Based on Node Collaborative Scheduling

Algorithm 2

Mobile charging path planning.

1: Input: k, ,S;

2: for i= 1:N do

3: if S(i).E   then

4:  +1

5:  S(i).state=R

6:  c=S(i).clust

7:  ch(c) i

8: end if

9: end for

10: while Threshold do

11: for i= 1:length(ch) do

12:  

13:  

14: end for

15: for i= 1:k do

16:  for j= 1:length(clust(i)) do

17:   if S(j).state=R then

18:    

19:   end if

20:  end for

21:  docking(i)= min[(n)]

22: end for

23: caculate Rp for each cluster according to Eq. (8);

24: obtain the shortest path of AMC according to Eq. (9);

25: perform charging tasks;

26: end while

27: Output: dis,t,death_nodes.