Collaborative charging schemes are effective for energy replenishment. Nonetheless, traditional collaborative charging approaches face several important challenges that are often overlooked. The lack of uniformity and dynamic decision-making in these schemes within Wireless Rechargeable Sensor Networks (WRSNs) hinders charging efficiency. To enhance charging performance, with a focus on efficiency, this section presents a game-theoretical collaborative charging scheme known as GTCharge. This approach turns the charging process into a collaborative game among wireless charging vehicles (WCVs). We investigate the roles of contribution degree, charging priority, and profits. GTCharge is thoroughly detailed, with each WCV striving to maximize its profit while carrying out charging tasks. We prove the conditions under which the charging strategies of all WCVs converge to a Nash Equilibrium. Finally, comprehensive simulations are conducted to demonstrate the proposed scheme’s benefits. The simulation results affirm the advantages of the scheme regarding charging efficiency.