Finite battery capacity limits the network lifetime of wireless sensor networks, and thus severely impedes the deployment of large scale sensor networks. To prolong the lifetime, researchers utilize mobile chargers to recharge sensors with external power sources. In this paper, we study both periodic charging time scheduling and charging path planning with multiple chargers. First, we present an efficient slot-based periodic charging time scheduling algorithm with both a fine-grained node classification scheme to prevent unnecessary visits of energy-sufficient nodes, and a balanced charging task assignment scheme to avoid charging starvation. To further enhance charging efficiency, we also propose a charging path planning algorithm, which enables parallel power replenishment with multiple chargers. The simulation results show that our algorithms are effective and competitive when compared with existing algorithms.
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