Algorithm 2: The Shortest Travel Path Based on the Simulated Annealing Algorithm

Input: the flight velocity of mobile charger $v_m$, the coordinates $C$ of all charged nodes in the current charging schedule. Output: the shortest travel path $\mathsf{\Psi }$ and the travel time of mobile charger $t_m$. $\mathsf{\Psi }\leftarrow \mathsf{\Psi }(i)$     /*generate an initial path according to the coordinates $C$*/ $L\left(\mathsf{\Psi }\left(i\right)\right)$      /*the length of the current path*/ $\Re$         /*used to control the cooling rate*/ $\mathsf{\Gamma }$         /*the high initial temperature*/ $\mathsf{\Gamma }\_min$      /* the lowest temperature in the search process */ Calculate the travel time of mobile charger. return $\mathsf{\Psi }$ and $t_m$.