Energy Aware Planning of A Quadrotor With 5G Access Point in Disaster Response

This paper presents a method to determine the optimal energy flight path for a drone with a mobile 5 G access point (AP) in a disaster response task. The disaster response task is modeled as a waypoint traversal problem. By analyzing the flight dynamics of the quadrotor drone, the optimal flight speed and pitch angle are obtained. The traversal task is then formulated as a traveling salesman problem where the drone needs to find out the traversal order so that the total distance traveled to visit each site is minimized. The genetic algorithm solves the traveling salesman problem, yielding an optimal traversal order. Finally, several test cases are presented to show the effectiveness of the proposed method.