No it won’t renumber the invoice as you can amend and resubmit the cancelled invoice. I see you can have operational issues if you try to renumber invoice as they are linked with sales order anfd Journal Voucher.
lets suppose you delete SINV-00002 and after this you have 1000 invoices. now for all those 1000 system needs to change it’s number almost every where in the Database. which dosent look practical.