基于信息年龄的多目标无人机路径规划策略

Research on path planning and scheduling strategy of Multi-Target UAV based on energy harvesting

提出一种基于能量收集(Energy Harvesting,EH)的多目标无人机路径规划及调度策略。在满足无人机飞行高度的情况下,以信息年龄最小化为目标,研究无人机感知和传输过程,提出了多目标无人机感知次数与飞行轨迹联合优化算法(Joint Optimization Algorithm of Sensing Times and Trajectory of Multi-Objective UAV,JST),首先,构建了多目标无人机信息传输系统模型及其传输协议,推导出系统信息年龄数学表达式。其次,对于无人机感知优化子问题,通过迭代计算求得最优感知次数;对于无人机路径规划子问题,提出多目标人工势场法,得到了无人机的飞行路径。最后,通过数学仿真验证了算法的合理性和有效性。

In recent years,wireless communication technology has made great progress.Wireless Sensor Networks(WSN)system needs to process a large amount of data.To ensure system reliability and service life,a multi-node transmission optimization algorithm uses energy harvesting technology.this paper proposes a multi-objective UAV path planning and scheduling strategy based on Energy Harvesting(EH).Facing the scene of UAV performing multi-target point perception task under a single device set,taking the minimization of AoI as the optimization goal,this paper studies the UAV perception and transmission process,and puts forward the joint optimization algorithm of multi-target UAV perception times and flight trajectory.The specific description is as follows:firstly,the multi-target UAV information transmission system model and its transmission protocol are constructed,The mathematical expression of system AoI is derived.Secondly,for the UAV perception optimization subproblem,and the optimal perception times is obtained by iterative calculation;For the path planning subproblem of UAV,a multi-objective artificial potential field method is proposed to obtain the flight path of UAV.Finally,the rationality and effectiveness of the algorithm are verified by mathematical simulation.