Table 1 Symbol and descriptions in this paper
Symbol | Description |
|---|---|
U | The set of UAVs |
O | The set of offshore platforms |
C | The set of tasks. \(c_0\) is the warehouse center |
\(H_i\) | The set of wireless links |
\(g_p\) | The iterations of particles |
\(\rho _i\) | The density of UAVs within the coverage of offshore platforms \(o_i\) |
\(Q_k(x_i,y_i)\) | The coordinates of UAV \(u_k\) |
\(\varphi _{k,i}\) | The Signal noise ratio (SNR) of UAV under offshore platform \(o_i\) |
\(p_k\) | The transmission power of UAV \(u_k\) |
\(\mu _k,_i\) | The route loss index from UAV \(u_k\) to offshore platform \(o_i\) |
\(\sigma\) | The additive white Gaussian noise |
\(N_u,N_c\) | The number of UAVs and task points |
D | The total path of the UAV |
\(q_i\) | The material demand of the task point \(c_i\) |
\(t_k,v_k\) | The travel time and speed of UAV \(u_k\) |
\(d_{i,j}\) | The distance between task point \(c_i\) and task point \(c_j\) |
\(d_k\) | The distance that UAV has traveled |
\(l_{kmax},l_{kmin}\) | The maximum range and minimum inertial distance of UAV \(u_k\) |
\(l_{ki},L_k\) | Segment i and the total travel of UAV \(u_k\) |
\(\theta _{kmax}\) | The maximum horizontal deflection angle of UAV \(u_k\) |
F | The fitness function of route planning |
\(G_0\) | The threat zone collision factor |
\(N_p\) | The number of particles |
P | The set of particles |
\(Pbest_i,Gbest_i\) | The local optimal solution and global optimal solution of particle |
\(a_1,a_2,c_1,c_2,\omega\) | The acceleration constants, random function, and inertia variable of particles, respectively |