Algorithm 1: Path planning algorithm for mobile charging robot based on Delaunay triangulation.
INPUT: S and EPD//S: the set of sensors, EPD: the set of boundary edges of power Voronoi diagram.
OUTPUT: PDT//Scheduled traversal path based on DT strategy
1.	PDT = ∅
2.	Find the starting Delaunay triangulation dt with 3 Voronoi diagram edges ea, eb, ec, inside nearest to the MR.
3.	While (There exists one sensor marked UNCHARGED)
4.	{
5.	Suppose MR is on ea and ea is selected and appended into PDP. Both side sensors on ea are marked CHARGED.
6.	If (funcharged(eb) > funcharged(ec))
7.	Both side sensors on eb are marked CHARGED.
8.	ea ← eb
9.	Else If (funcharged(eb) < funcharged(ec))
10.	Both side sensors on ec are marked CHARGED.
11.	ea ← ec
12.	Else If (funcharged (eb) == 0 and funcharged(ec) == 0)
13.	Find the nearest dt’ with 3 Voronoi diagram edges ea’, eb’, ec’ inside.
14.	Suppose ea’ is nearest to MR and MR is moving to the nearest end point of ea’ constituted a path segment called ep, travelled unnecessary charging.
15.	ep is appended into PDT.
16.	ea ← ea’
17.	Else
18.	$e_m=\underset{e_b,e_c}{arg }\underset{i=b,c}{min }len\left(e_i\right)$ is appended into PDT
19.	Both side sensors on em are marked CHARGED.
20.	ea ← em
21.	}
22.	ReturnPDP