Wireless Sensor Networks (WSNs) are used to monitor temperature, humidity and gas concentrations in warehouses to ensure product quality. In the transportation industry, WSNs track the location and number of passengers on public transport to provide real-time data for the optimization of routes and schedules. WSN technology is beneficial but the energy in sensor nodes (SNs) is limited, which is similar to a battery. As WSN applications grow, an efficient routing protocol that minimizes SNs’ energy consumption must be developed. This study proposes a routing scheme that maintains service quality (QoS) in terms of coverage and extends the lifespan of a SN. The aggregation points (APs) is determined based on SN density and the area is divided accordingly. The base station (BS) uses the GPS coordinates of the SNs to calculate the greatest communication range overlap density for AP designation. Each AP uses a SN as a cluster head (CH) and a Particle Swarm Optimization (PSO) algorithm is used to form clusters. To reduce the high energy consumption of CHs, mobile sinks (MSs) collect data from CHs and return it to the BS. This reduces energy consumption, increases scalability and stability and meets the requirements for various applications. The proposed method outperforms advanced algorithms in terms of the lifecycle, stability period and coverage QoS.