An Energy-Balanced Path Planning Algorithm for Multiple Ferrying UAVs Based on GA

Table 2

Experimental parameters.

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