Table 1 Key notations used in this paper

L

Distance between S and D

H

Flight altitude of UAV

T

Flight time of UAV

N

Number of time-slots

δ

Time-slot length

q(n)

Horizontal coordinate of UAV in the n-th time-slot

q_S / q_D

Horizontal coordinate of S/D

(x₀, y₀, H)/ (x_F, y_F, H)

Initial/Terminal position of UAV

h_SR/h_RD

Channel gain between S and R/R and D

P_S(n)/ P_R(n)

Transmit power of S/R in the n-th time-slot

σ²

Noise power

R_RD(n)

Channel capacity between R and D

v(n)/a(n)

Flight speed/Acceleration of UAV in the n-th time-slot

\(\overline{P}_{S} /\overline{P}_{R}\)

Average transmit power of S/R

P_Smax/ P_Rmax

Maximum transmit power of S/R

v_max

Maximum velocity of UAV

a_max

Maximum acceleration of UAV

B

Bandwidth

E

UAV flight related energy consumption