Fig. 13From: An efficient data collection path planning scheme for wireless sensor networks with mobile sinksMoving path for the ICPPA when obstacles are present (1000 m × 1000 m). This figure shows an example of a moving path obtained by using the ICPPA when obstacles are present, where the number of sensor nodes is equal to 10 and the number of obstacles is equal to 5. The moving distance of the mobile sink is 2862 mBack to article page