Research Article
E2PP: An Energy-Efficient Path Planning Method for UAV-Assisted Data Collection
| (1) | get the coordinates of each node in S | | (2) | calculate and construct C with the formula (7) | | (3) | for all nodes, m (m = 0, 1, …, n) do | | (4) | take the node m as the starting node (only assumed, not necessarily true) | | (5) | P[m][0] = m; % path[m][ ] records the optimal path starting from the node m | | (6) | find the node q which is the closest to the node m and take it as the next node to be visited | | (7) | P[m] [1] = q; % record the node q as the first node that will be visited | | (8) | i = m | | (9) | j = q; % be ready to find the next node to be visited | | (10) | for (l = 2; l ≤ n; l++) | | (11) | find the subscript k which makes C[i][j][k] minimum in the array C[i][j][ ] | | (12) | P[m][l] = k; % record the next node that will be visited | | (13) | i = j; | | (14) | j = k; % be ready to find the next node to be visited | | (15) | end for | | (16) | end for | | (17) | for (m = 0; m ≤ n; m++) | | (18) | get Path[m][] by setting the starting node as the node 0 in the loop path P[m][]; | | (19) | calculate EC[m]; | | (20) | end for | | (21) | find the subscript s which makes EC[s] minimum in the arrayEC | | (22) | return Path[s][ ]% Path[s][ ]is the optimal loop path planned for data collection |
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