Multi-UAV Trajectory Optimization for Fair Coverage Considering No-fly Zones

Optimizing trajectories of unmanned aerial vehicles base stations (UAV-BSs) is crucial in maximizing the usage of UAV. However, existing works often fail to consider the mobility of ground users. Therefore, we propose a multi-UAV trajectory optimization problem that maximizes fair coverage of dynamic users within no-fly zones. We present an efficient UAV trajectory optimization algorithm based on improved Soft Actor Critic (SAC) for solving complex constrained problems. Finally, simulation experiments demonstrate the feasibility of our proposed algorithm.