Calculate the shortest flight distance from BS to GS , denoted as , and that between and , denoted as , respectively
(2)
Obtaining the mileage that can be saved if visit and one after the other in the same flight path according to saving-mileage formula, i.e.,
(3)
Sort the saving-mileage in descending order
(4)
According to the constraints of flight time and energy consumption, as well as the value of saving-mileage, connect each GS sequentially to finally determine the flight routes of data collection UAVs, as well as the number of UAVs used
