Trajectory Planning for Communication Relay Unmanned Aerial Vehicles in Urban Dynamic Environments

Pawel Ladosz; Hyondong Oh; Wen Hua Chen

doi:10.1007/s10846-017-0484-y

Trajectory Planning for Communication Relay Unmanned Aerial Vehicles in Urban Dynamic Environments

Pawel Ladosz, Hyondong Oh, Wen Hua Chen

Department of Aeronautical and Aviation Engineering

Research output: Journal article publication › Journal article › Academic research › peer-review

31 Citations (Scopus)

Abstract

This paper proposes an optimal positioning and trajectory planning algorithm for unmanned aerial vehicles (UAVs) to improve a communication quality of a team of ground mobile nodes (vehicles) in a complex urban environment. In particular, a nonlinear model predictive control (NMPC)-based approach is proposed to find an efficient trajectory for UAVs with a discrete genetic algorithm while considering the dynamic constraints of fixed-wing UAVs. The advantages of using the proposed NMPC approach and the communication performance metrics are investigated through a number of scenarios with different horizon steps in the NMPC framework, the number of UAVs used, heading rates and speeds.

Original language	English
Pages (from-to)	7-25
Number of pages	19
Journal	Journal of Intelligent and Robotic Systems: Theory and Applications
Volume	89
Issue number	1-2
DOIs	https://doi.org/10.1007/s10846-017-0484-y
Publication status	Published - 1 Jan 2018

Keywords

Airborne communication relay
Genetic algorithm
Kinematic constraints
Nonlinear model predictive control
Unmanned aerial vehicles
Urban environment

ASJC Scopus subject areas

Software
Control and Systems Engineering
Mechanical Engineering
Industrial and Manufacturing Engineering
Electrical and Electronic Engineering
Artificial Intelligence

More information

10.1007/s10846-017-0484-y

Cite this

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Trajectory Planning for Communication Relay Unmanned Aerial Vehicles in Urban Dynamic Environments

Abstract

Keywords

ASJC Scopus subject areas

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