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

Table 3

Time and energy consumption of 3 drones for operation and task allocation.

Experimental scene	Planning method	The time consumption/s	Energy consumption/mah	Number of subtasks
Scene 1	Unit operation area method	7939.64	20294.530	24
	Unit size method	5399.30	12895.92	24
	Method of this article	3256.89	14511.37	23
Scene 2	Unit operation area method	1281.78	4632.25	8
	Unit size method	646.56	2165.89	8
	Method of this article	605.86	1540.71	7