Energy-aware path planning of an unmanned aerial vehicle acting as a communication relay for mobile ground nodes

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We focus on energy-aware path planning of a small unmanned aerial vehicle-based relay which forwards the data received from a stationary remote station to a mobile access point. In order to reduce the communication power required for reliable communication between the unmanned aerial vehicle-based relay and access point, the unmanned aerial vehicle-based relay keeps track of the access point within a maximum allowable horizontal distance at a constant altitude, and thus the communication power of the unmanned aerial vehicle-based relay decreases as the horizontal distance decreases. In order to determine the energy-efficient manoeuvring of the unmanned aerial vehicle-based relay within the horizontal distance, we formulate a new off-line trajectory optimization problem. The solution of the problem gives insight into how to realize the energy-efficient manoeuvring. For online implementation of energy-efficient path planning (manoeuvring control), we propose two control schemes: a model predictive control scheme and a standoff tracking control scheme. These schemes can significantly reduce manoeuvring energy compared with conventional schemes.
Publisher
SAGE PUBLICATIONS LTD
Issue Date
2019-03
Language
English
Article Type
Article
Citation

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING, v.233, no.3, pp.1124 - 1132

ISSN
0954-4100
DOI
10.1177/0954410017748685
URI
http://hdl.handle.net/10203/251779
Appears in Collection
EE-Journal Papers(저널논문)
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