Path Planning for Multi-Vehicle-Assisted Multi-UAVs in Mobile Crowdsensing

Due to the capability of fast deployment and controllable mobility, unmanned aerial vehicles (UAVs) play an important role in mobile crowdsensing (MCS). However, constrained by limited battery capacity, UAVs cannot serve a wide area. In response to this problem, the ground vehicle is introduced and used to transport, release, and recycle UAVs. However, existing works only consider a special scenario: one ground vehicle with multiple UAVs. In this paper, we consider a more general scenario: multiple ground vehicles with multiple UAVs. We formalize the multi-vehicle-assisted multi-UAV path planning problem, which is a joint route planning and task assignment problem (RPTSP). To solve RPTSP, an efficient multi-vehicle-assisted multi-UAV path planning algorithm (MVP) is proposed. In MVP, we first allocate the detecting points to proper parking spots and then propose an efficient heuristic allocation algorithm EHA to plan the paths of ground vehicles. Besides, a genetic algorithm and reinforcement learning are utilized to plan the paths of UAVs. MVP maximizes the profits of an MCS carrier with a response time constraint and minimizes the number of employed vehicles. Finally, performance evaluation demonstrates that MVP outperforms the baseline algorithm.