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The data gathering delay and the network lifetime are important indicators to measure the service quality of wireless sensor and actuator networks (WSANs). This study proposes a dynamically cluster head (CH) selection strategy and automatic scheduling scheme of collectors for prolonging the network lifetime and shorting data gathering delay in WSAN. First the monitoring region is equally divided into several subregions and each subregion dynamically selects a sensor node as CH. These can balance the energy consumption of sensor node thereby prolonging the network lifetime. Then a task allocation method based on genetic algorithm is proposed to uniformly assign tasks to actuators. Finally the trajectory of each actuator is optimized by ant colony optimization algorithm. Simulations are conducted to evaluate the effectiveness of the proposed method and the results show that the method performs better to extend network lifetime while also reducing data delay.