Energy-Efficient 3D UAV Trajectory Design for Data Collection in Wireless Sensor Networks

Abstract

We consider the issue of designing closed 3D UAV trajectories that allow for an energy efficient collection of data with a UAV-aided wireless sensor network. We consider a 3D wireless channel model and a realistic dynamical model for the UAV. The proposed trajectory is largely derived analytically, thus making its online calculation computationally tractable. We also show the importance of using realistic dynamical and energy models for the UAV in designing efficient trajectories. This is done mainly by showing that minimising the flying time of the UAV is not equivalent to minimising its energy consumption. Simulation results corroborate these findings.

Optimum Trajectory Planning for Multi-Rotor UAV Relays with Tilt and Antenna Orientation Variations

“…In some cases, multi-rotor UAVs hover while relaying data; the UAV's orientation remains constant, and so there are no changes in the communications channel induced by the UAV's orientation. For instance, in [11], we studied the scenario where a quad-rotor hovers to collect data from ground sensors; although the UAV antenna's radiation pattern was taken into account, the antenna orientation remained constant.…”