Energy-Efficient UAV Communication with Multiple GTs Based on Trajectory Optimization

Algorithm 1

: Alternative iteration method for problem (10).

(1)	Initialize . Let , accuracy .
(2)	repeat
(3)	Solve problem (13) for the given , and denote the optimal solution as .
(4)	Update .
(5)	Solve problem (19) for the given , and denote the optimal solution as .
(6)	Update , .
(7)	Update .
(8)	Until converges to the prescribed accuracy .