摘要
This paper investigates the anti-jamming trajectory design to safeguard the effective data collection, where a unmanned aerial vehicle(UAV)is dispatched to collect data over multiple sensor nodes(SNs) in jamming environment. Under the limited power and transmission range of SNs, we aim to minimize the UAV’s flight energy consumption in a finite task period, by jointly optimizing SNs collection sequence and UAV flight trajectory. Firstly, we propose a general optimization framework which consists of path planning and trajectory optimization for the formulated non-convex problem. In the path planning phase, a dynamic programming(DP) algorithm is used to provide the initial path of the UAV, which is the shortest path to visit each SN. In the trajectory optimization phase, we introduce the concept of Communication Flight Corridor(CFC) to meet the non-convex constraints and apply a piecewise Bézier curve, based on Bernoulli polynomial, to represent the flight trajectory of the UAV, which can transform the optimization variables from infinite time variables to polynomial coefficients of finite order. Finally, we simulate the flight trajectory of UAV in hovering mode and continuous flight mode under different parameters, and the simulation results demonstrate the effectiveness of the proposed method.
