Autonomous UAV 3D trajectory optimization and transmission scheduling for sensor data collection on uneven terrains

作     者：Andrey V.Savkin Satish C.Verma Wei Ni Andrey V.Savkin;Satish C.Verma;Wei Ni

作者机构：School of Electrical Engineering and TelecommunicationsUniversity of New South WalesSydneyAustralia Data61CSIROCanberraACT2601Australia 

出 版 物：《Defence Technology（防务技术）》 (Defence Technology)

年 卷 期：2023年第30卷第12期

页      面：154-160页

核心收录：

学科分类：08[工学] 081105[工学-导航、制导与控制] 082503[工学-航空宇航制造工程] 0825[工学-航空宇航科学与技术] 0811[工学-控制科学与工程] 

基　　金：funding from the Australian Government via Grant No.AUSMURIB000001 associated with ONR MURI Grant No.N00014-19-1-2571 

主　　题：Unmanned aerial system UAS Unmanned aerial vehicle UAV Wireless sensor networks UAS-Assisted data collection 3D trajectory optimization Data transmission scheduling 

摘      要：This paper considers a time-constrained data collection problem from a network of ground sensors located on uneven terrain by an Unmanned Aerial Vehicle(UAV),a typical Unmanned Aerial System(UAS).The ground sensors harvest renewable energy and are equipped with batteries and data *** ground sensor model takes into account sensor data buffer and battery *** asymptotically globally optimal method of joint UAV 3D trajectory optimization and data transmission schedule is *** developed method maximizes the amount of data transmitted to the UAV without losses and too long delays and minimizes the propulsion energy of the *** developed algorithm of optimal trajectory optimization and transmission scheduling is based on dynamic *** simulations demonstrate the effectiveness of the proposed algorithm.