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

Table 4

Time and energy consumption of 4 UAVs 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	3706.54	12895.92	24
	Method of this article	3327.91	12687.69	23
Scene 2	Unit operation area method	981.17s	4632.25	8
	Unit size method	676.32s	4165.89	8
	Method of this article	390.28s	4064.95	7