Multi-unmanned aerial vehicle auxiliary wireless energy supply dynamic communication method and device

The invention relates to a wireless energy-carrying mobile communication network, in particular to a multi-unmanned aerial vehicle auxiliary wireless energy supply dynamic communication method and device, and can solve the problem that in the prior art, the task period of a UAV is divided into a WET stage and a subsequent wireless data collection stage, and due to the fact that WN usually has different energy requirements, the energy consumption of the UAV is reduced to a certain extent. Therefore, not all WN data transmission requirements can be satisfied in the WDC stage of the unmanned aerial vehicle. The method comprises the following steps: establishing a dynamic wireless energy supply communication network system model based on real data; designing a data collection amount maximization problem according to the dynamic WPCN system model; designing a multi-agent-based layered deep reinforcement learning framework according to a data collection amount maximization problem; based on the established MAHDRL f