Planning Algorithm for Route and Task Allocation of Plant Protection UAVs in Multiple Operating Areas

Table 1

Symbols and meaning.

Symbols	Meaning/unit
	Total operating time/s
	Working area location collection
	Set of divided subtasks
	Maximum total drug load of unmanned aircraft/L
	Maximum battery capacity of unmanned aircraft/mah
	UAV collection K = {k|1, 2, …, m}
	UAV battery consumption rate/mah/m
	UAV flying speed/m/s
	UAV ascending, descending, and battery replacement, replenishing liquid medicine time/s
	Pesticide consumption rate during UAV plant protection operations/L/s
	The length from the return point of the subtask to the replenishment point/m
	Length of plant protection operation distance in subtask/m
	Decision variable, when the route (i, j) is visited by drone k, take 1, and otherwise, take 0