To solve scheduling problem of dynamic sensors in hybrid wireless sensor networks（ WSNs） with obstacles

a scheduling algorithm and model based on spanning graphs is constructed. Regularization shape of obstacles is obtained by grid-based techniques; according to algorithm based on spanning graphs

search space of the shortest path is restricted within connection graphs; a goal of energy-efficient scheduling for dynamic sensors is achieved

on the basis of realizing the shortest path of obstacle avoidance. Through simulation

the effectiveness of the method is verified.