<p>The limited battery life in wireless sensor networks (WSNs) imposes a restriction on their overall network lifetime. Hence, the rise of wireless energy transfer (WET) technology offers a new approach to solve the energy challenge encountered by sensor nodes (SNs), nurturing the potential of wireless rechargeable sensor networks (WRSNs). This research paper proposes an efficient scheduling scheme for mobile charging vehicles (MCVs) to charge the SNs in WRSNs. The proposed scheme is developed by using an efficient heap-based algorithm. The proposed work aims to optimize energy consumption, charging utility, and enhance the network lifetime by intelligently scheduling the movement of MCVs. Operation of the proposed work consists of some primary stages which include calculation of the fitness value of each of the requested SNs by considering normalized conditional parameters followed by the recharging of the SNs using the proposed efficient scheduling scheme based on heap-based algorithm. The proposed scheme effectively balances the energy distribution among SNs and ensures suitable recharging to prevent network partitioning or node failure. The scheme is also robust against node failures and dynamic network conditions, adapting to changes in node energy levels and charging requirements. In order to exhibit the efficiency of the proposed scheme, a number of existing state-of-the-art approaches, viz. EDF, Heuristics, Greedy, ETLBO, GSA and DMCP have been compared with the proposed scheme. Extensive simulations demonstrate that the proposed scheme yields better results than the existing approaches in terms of charging path length, charging utility, survival ratio, energy utilization, working time of MCV etc.</p>