Multi-UAV Path Planning Model with Multiple Battery Recharge Points

In recent years, multi-UAV mission scheduling has become a very active research area. In this paper, a scenario is established in which multiple-access battery recharge points are set up to solve the problem of UAV enlistment in the current logistics scenario. The study constructs a mixed integer programming model based on UAV battery replacement as well as UAV cargo demand and UAV enlistment and flight characteristics, and designs solution cases based on the model and solves them using an exact solver, and experiments prove that the model built in this paper has good solution effectiveness and compatibility with the scenario.