Optimization Algorithm for AoI-Based UAV-Assisted Data Collection

Algorithm 1

Framework for solving problem P.

Input: coordinates of N nodes in the region, cluster radius , UAV flight

   height , UAV flight speed and other system parameters;

Output: Minimum value of the average SCAoI;

1: Initialization related parameters;

2: for i=1: N do

3: ;

4: ;

5: ;

6: end for

7: , , ,

  , obtain the result of subproblem 1;

8: Using the coordinates of and DC, optimize the UAV trajectory ,

and obtain the optimal solution of subproblem 2;

9: for j=1: C do

10: for k=1:

11: Optimize the order of data collection from member nodes within a cluster

, obtain the optimal solution of subproblem 3;

12: end for

13: end for

14: Solve the problem P.