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

Table 2

The heading angle planned by the method in this paper and the minimum time method.

Working area	Operating time based on traditional route planning (s)	Operating time based on the route planning of this article (s)
Working area 1	5576.26	3327.91
Working area 2	7939.65	6637.58
Working area 3	3866.35	3094.73
Working area 4	910.82	379.49
Working area 5	981.17	390.28
Working area 6	768.30	278.45
Working area 7	692.44	327.41