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This paper studies a rechargeable unmanned aerial vehicle (UAV) assistedwireless network, where a UAV is dispatched to disseminate information to agroup of ground terminals (GTs) and returns to a recharging station (RS) beforethe on-board battery is depleted. The central aim is to design a UAV trajectorywith the minimum total time duration, including the flight and recharging time,by optimizing the flying velocity, transmit power and hovering positionsjointly. A flow-based mathematical programming formulation is proposed toprovide optimal for joint optimization of flying and recharging time.Furthermore, to attack the curse of dimensionality for optimal decision making,a two-step method is proposed. In the first step, the UAV hovering positions isfixed and initialize a feasible trajectory design by solving a travellingsalesman problem with energy constraints (TSPE) problem. In the second step,for the given initial trajectory, the time consumption for each sub-tour isminimized by optimizing the flying velocity, transmit power and hoveringpositions jointly. Numerical results show that the proposed method outperformsstate of art techniques and reduces the aggregate time duration in an efficientway.

Trajectory Design in Rechargeable UAV Aided Wireless Networks: A Unified Framework for Energy Efficiency and Flight Time Minimization