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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