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

Figure 4

Comparison of optimal energy-efficient trajectory of the UAV with different period times . The initial and final locations are marked by “,” and the locations of GTs are marked by “.” (a) Optimal trajectory,  = 100 s. (b) Optimal trajectory,  = 120 s. (c) Optimal trajectory,  = 40 s. (d) Optimal trajectory,  = 180 s.

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