Trajectory Planning for Communication Relay Unmanned Aerial Vehicles in Urban Dynamic Environments

被引：26

作者：

Ladosz, Pawel ^{[1
]}

Oh, Hyondong ^{[2
]}

Chen, Wen-Hua ^{[1
]}

机构：

[1] Loughborough Univ, Dept Aeronaut & Automot Engn, Loughborough LE11 3TU, Leics, England

[2] Ulsan Natl Inst Sci Technol UNIST, Sch Mech & Nucl Engn, Ulsan, South Korea

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2018年 / 89卷 / 1-2期

基金：

英国工程与自然科学研究理事会;

关键词：

Airborne communication relay; Genetic algorithm; Kinematic constraints; Nonlinear model predictive control; Unmanned aerial vehicles; Urban environment; TRACKING;

D O I：

10.1007/s10846-017-0484-y

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper proposes an optimal positioning and trajectory planning algorithm for unmanned aerial vehicles (UAVs) to improve a communication quality of a team of ground mobile nodes (vehicles) in a complex urban environment. In particular, a nonlinear model predictive control (NMPC)-based approach is proposed to find an efficient trajectory for UAVs with a discrete genetic algorithm while considering the dynamic constraints of fixed-wing UAVs. The advantages of using the proposed NMPC approach and the communication performance metrics are investigated through a number of scenarios with different horizon steps in the NMPC framework, the number of UAVs used, heading rates and speeds.

引用

页码：7 / 25

页数：19

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