Coordinated trajectory planning for efficient communication relay using multiple UAVs

Abstract

This paper investigates the use of small UAVs as communication relay nodes for expanding communications links and improving communication quality for a fleet of naval vessels. This paper firstly deals with the UAV deployment for stationary communication nodes, and then, proposes a decentralised nonlinear model predictive trajectory planning strategy for a dynamic environment. By exploiting motion estimates of vessels and states of UAVs, the trajectory planning algorithm finds a control input sequence optimising network connectivity over a certain time horizon. Numerical simulations are performed for both stationary and manoeuvring vessels to verify the feasibility and benefit of the proposed approach.

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

“…In this work, a communication quality is represented as a probability of successful communication using an open space communication model [9,10]. In this model, node i has the transmission power of P i and observes a noise σ receiving a signal from other members of the group.…”

“…Basu et al [8] combined the number of connections to each UAV with a flocking algorithm to maximise the number of connected nodes at any given time. Approaches from [9,10] tested several communication metrics to find the best position or trajectory for a team of UAVs. Dubins path and a simple communication disc model (which is based on a maximum communication radius) was used by [11] to find trajectories for a group of relay UAVs between a mobile ground node and a ground control station.…”

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