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Recently, an unmanned aerial vehicle (UAV) has been widely adopted to make efficient use of network resources in such areas as internet of things (IoT), sensor networks and three dimensional (3D) wireless networks. Especially, in wireless sensor networks (WSNs) where energy consumption of sensors in data transmission is the most conspicuous feature, data collection by UAV provides a promising solution. To address this issue, we consider a UAV-enabled WSN, where a UAV is dispatched to collect data from sensors distributed in networks. We formulate an optimization problem to maximize the minimum residual energy of sensors after data transmission for energy-efficient UAV routing subject to data collection and UAV traveling distance constraints. To solve the non-convex optimization problem, we first derive a feasible solution, i.e., the shortest UAV route that guarantees data collection at all the sensors …