Relay unmanned aerial vehicle communication and motion energy consumption joint optimization method

The invention discloses a relay unmanned aerial vehicle communication and motion energy consumption joint optimization method, and aims to solve the problem of total energy consumption optimization ofan unmanned aerial vehicle relay system. According to the technical scheme, the method comprises the steps: constructing an unmanned aerial vehicle relay system composed of a ground mobile robot, anaerial mobile unmanned aerial vehicle relay U and a fixed aerial base station BS; enabling the ground mobile robot to send a task execution result to the U; enabling the U to plan a U optimal track, optimal communication power and optimal communication power of the ground mobile robot according to the current time step end point position, the total data information, the obstacle information in theenvironment and the communication environment of the ground mobile robot; enabling the U and the ground mobile robot to perform data transmission at the optimal communication power; enabling the U tosynchronously forward the r