# Motion Planning in UAV-Aided Data Collection with Dynamic Jamming
## 5 Conclusions  
In this study, the motion programming of UAVs collecting data in a dynamic jamming environment was examined. Our main optimization objective was to find a safe path that consumes a minimum amount of energy and results in the required amount of collected data. As the constructed optimization problem is non-convex, we introduced auxiliary and relaxation variables to relax the original problem and used the SCA algorithm to solve the new relaxation problem. To obtain a well-localized optimal solution with the SCA algorithm, we propose a fast initialization path method that is based on a CFC for processing. We constructed the CFC and solved for the initial path of the UAV with the UAV's perceived interference intensity and the transmission capability of the SN. Finally, we compared the simulation results with those of the AStar and DWA algorithms. The results demonstrate that the algorithm presented in the current paper is feasible and performs reliably. Figure 14: Instantaneous flight height. Figure 13: Instantaneous flight speed variation. **Author Contributions:** Methodology, D.G. ; Software, C.X. ; Formal analysis, B.Z. ; Investigation, W.M. ; Writing--original draft, B.W. ; Funding acquisition, H.J. All authors have read and agreed to the published version of the manuscript. **Funding:** This research received no external funding. **Conflicts of Interest:** The authors declare no conflicts of interest. * [PERSON] et al. (2019) [PERSON]; [PERSON]; [PERSON]; [PERSON]; [PERSON]; [PERSON] Completion time minimization with path planning for fixed-wing uav communications. _IEEE Trans. Wirel. Commun._**2019**, _18_, 3485-3499. [CrossRef]
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