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
收藏
页码：7 / 25
页数：19
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