Unmanned aerial vehicle auxiliary wireless energy transmission system, and node scheduling and path planning method thereof

The invention discloses an unmanned aerial vehicle (UAV) auxiliary wireless energy transmission system, and a node scheduling and path planning method thereof. The wireless energy transmission systemcomprises an UAV wireless energy transmission node and K ground sensor nodes. The UAV node flies according to a certain path within a certain period of time. At each time of flight, the UAV node transmits a wireless signal to the ground sensor node scheduled at the current time. The sensor nodes perform energy harvesting and charging, and only one sensor node is charged at each time. The method aims to maximize the minimum acquisition energy of the sensor node from the view of fairness, considers the conditions of the maximum flight speed constraint and a start flight position of the UAV, andtakes the sensor node scheduling variable and the UAV flight path as variables to establish a mathematical optimization model. By means of continuous nearly convexity, a suboptimal parameter solutionof the sensor node scheduli