However, most research fails to account adequately for limited energy on each UAV, which involves in many factors such as different operations for performing a task and various movement patterns besides the distance and turns that have been commonly considered. 然而，大多数研究未能充分考虑每架无人机上有限的能量，这涉及许多因素，例如执行任务的不同操作以及除了通常考虑的距离和转弯之外的各种运动模式。
By contrast, we conduct a series of experiments to obtain the energy model of UAVs. 相比之下，我们进行了一系列实验来获得无人机的能量模型。
Unmanned aerial vehicles (UAVs) are receiving increased attention by humanitarian organizations as they can help overcoming last-mile distribution problems. 无人驾驶飞行器越来越受到人道主义组织的关注，因为它们有助于克服最后一英里的分配问题
Energy–aware drone routing problems are considered in [8,11,28] where the energy consumption of the drone is assumed to depend on one or more of the flight related parameters: payload, speed, distance and altitude. 在[8,11,28]中考虑了能量感知无人机航路问题，其中假设无人机的能量消耗取决于一个或多个飞行相关参数：有效载荷、速度、距离和高度。
We mathematically derive and experimentally validate an energy consumption model for multirotor drones, demonstrating that energy consumption varies approximately linearly with payload and battery weight. 我们从数学上推导并通过实验验证了多旋翼无人机的能耗模型，证明了能耗随有效载荷和电池重量近似线性变化。
Predicting the performance of a specific UAV, in terms of ability to complete a mission, is a challenging task, since a number of variables are to be considered such as the UAV payload, path direction, waypoint spacing in a three- dimensional space, etc. Nevertheless, having realistic models to predict the performance of the UAV is fundamental to the success of these applications. 从无人机完成任务的能力来看，预测特定无人机的性能是一项具有挑战性的任务，因为需要考虑许多变量，如无人机有效载荷、路径方向、在三维空间中的路径点间距等。然而，拥有真实的模型来预测无人机的性能是这些应用成功的基础。
