期刊
IEEE TRANSACTIONS ON WIRELESS COMMUNICATIONS
卷 21, 期 6, 页码 4579-4593出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TWC.2021.3131384
关键词
Trajectory; Autonomous aerial vehicles; Mathematical models; Wireless communication; Kinematics; Energy consumption; Three-dimensional displays; UAV communication; quad-rotor UAV; trajectory optimization; control theory
资金
- National Natural Science Foundation of China [62071317, 62071114]
- Fundamental Research Funds for the Central Universities of China [3204002004A2]
- Program for Innovative Talents and Entrepreneur in Jiangsu [1104000402]
- Outstanding Projects of Overseas Returned Scholars of Nanjing [1104000396]
- General Project of Natural Science Foundation of Hunan Province [2021JJ30545]
This paper studies the 3D trajectory optimization problem for UAV-aided wireless communication, proposing a control-based UAV trajectory design method and deriving a new energy consumption model.
This paper studies the three-dimensional (3D) trajectory optimization problem for unmanned aerial vehicle (UAV) aided wireless communication. Existing works mainly rely on the kinematic equations for UAV's mobility modeling, while its dynamic equations are usually missing. As a result, the planned UAV trajectories are piece-wise line segments in general, which may be difficult to implement in practice. By leveraging the concept of state-space model, a control-based UAV trajectory design is proposed in this paper, which takes into account both of the UAV's kinematic equations and the dynamic equations. Consequently, smooth trajectories that are amenable to practical implementation can be obtained. Moreover, the UAV's controller design is achieved along with the trajectory optimization, where practical roll angle and pitch angle constraints are considered. Furthermore, a new energy consumption model is derived for quad-rotor UAVs, which is based on the voltage and current flows of the electric motors and thus captures both the consumed energy for motion and the energy conversion efficiency of the motors. Numerical results are provided to validate the derived energy consumption model and show the effectiveness of our proposed algorithms.
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