LADOSZ, P., OH, H. and CHEN, W.-H., 2017. Trajectory planning for communication relay unmanned aerial vehicles in urban dynamic environments. Journal of Intelligent & Robotic Systems (DOI: 10.1007/s10846-017-0484-y)
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.
This paper is closed access until 29th January 2018.
This work was supported by the UK Engineering and Physical Science Research Council (EPSRC) under the Grant EP/J011525/1 and the Research Fund (Project Number 1.160089) of UNIST (Ulsan National Institute of Science and Technology).