Research Article
An Energy-Balanced Path Planning Algorithm for Multiple Ferrying UAVs Based on GA
| Scene |
| Scene range | | Number of UAVs | 13 (ground) | Number of ferrying UAVs | 4 | Number of ground station | 1 | Motion | Speed of UAVs | 4.5 meters/second | Communication | Range of UAVs’ communication | 200 meters | Message generation rate | 5/second | Message size | 1400 byte | Message routing algorithm | Service-based routing algorithm | Number of message copies | 1 | Energy | Initial energy of f10,f11,f12,f13 | 50, 10, 20, 80 watts | Energy consumption ratio | 0.006 watts/meter | Genetic algorithm | Number of generation | 1000 | Mutation ratio | 2% | Population size | 200 | Testing frequency | 100 |
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