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Table 2 Comparison of five schemes in terms of their moving distances (sensing area: 2000 m × 2000 m)

From: An efficient data collection path planning scheme for wireless sensor networks with mobile sinks

Scheme

Node = 10

Node = 20

Node = 30

Node = 40

Node = 50

CCPPA_B

6930.978

9044.038

10,663.25

12,023.8

13,201.87

ICPPA_B

6684.225

8576.513

9981.743

11,142.05

12,123.07

CCPPA_A

7124.837

9451.558

11,198.09

12,626.94

13,905.48

ICPPA_A

6873.285

8981.423

10,521.83

11,755.29

12,848.36

HTPA

6948.583

9120.269

10,718.83

12,004.62

13,147.07