Propulsion Energy Minimization for Fixed-Wing-UAV-Assisted Full-Duplex Mobile Relaying via Hybrid Trajectory Design

Algorithm 1

Iteration algorithm for solving the propulsion energy minimization problem.

(1)	Initialize , (N is a large integer), tolerance .
(2)	Solve problem (25a)-(25b) and the value of and can be achieved.
(3)	repeat
(4)	Substitute and n into problem (23a)-(23b). Then update the value of and .
(5)	According to (31) and (32), and can be achieved. Then according Lemma 3, the value of can be achieved. Let .
(6)	Update .
(7)	until .
(8)	Output the sub-optimal radius , velocity and duration in mode 1; output the sub-optimal velocity and duration in mode 2; output the suboptimal duration in mode 3 and calculate the total energy consumption .