In wireless sensor networks (WSN), generally sensors closest to the sink or base station tend to deplete their battery energy faster than other sensors and create an energy hole around the sink. In order to overcome this problem, a mobile data gathering using PSO and minimum covering spanning tree (MDG-PSO-MCST) is proposed. In this technique, multiple sensors are arranged to form clusters. Two SenCars with multiple antennas are deployed in the cluster location and space division multiple access (SDMA) technique is applied for data gathering with energy efficiency. The anchor points are selected for intermediate data collection based on the connectivity and node degree, node compatibility and the distance between the sensors of two adjacent clusters parameters using particle swarm optimisation (PSO) technique. The visiting tour of each Sencars among the selected anchors is performed using the MCST algorithm. By simulation results, we show that the proposed technique minimises the energy consumption and delay, and enhances the network efficiency.