UAV-Enabled Data Collection: Multiple Access, Trajectory Optimization, and Energy Trade-Off

Algorithm 3

Alternate iterative solution for original optimization problem (P3).

(1)	Feasible solution check: Solve the problem (P3.1) to calculate the minimum energy consumption for UAV flight from initial point to final location.
	If ;
	Set: The initial UAV trajectory with minimum energy consumption as .
	Let ;
	Go to Step 2;
	Otherwise, There is no feasible solution, End
(2)	repeat
(3)	Solve problem (P3.2) under the fixed trajectory by Algorithm 1, and obtain the optimal resource allocation solution as .
(4)	Update the fixed resource allocation solution ;
(5)	Solve problem (P3.3) under the fixed resource allocation by Algorithm 2, and obtain the optimal UAV trajectory as
(6)	Update the fixed UAV trajectory
(7)	Update .
(8)	Until Converges to a prescribed accuracy