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Title: Trajectory planning for communication relay unmanned aerial vehicles in urban dynamic environments
Authors: Ladosz, Pawel
Oh, Hyondong
Chen, Wen-Hua
Keywords: Airborne communication relay
Genetic algorithm
Kinematic constraints
Nonlinear model predictive control
Unmanned aerial vehicles
Urban environment
Issue Date: 2018
Publisher: © Springer
Citation: LADOSZ, P., OH, H. and CHEN, W.-H., 2018. Trajectory planning for communication relay unmanned aerial vehicles in urban dynamic environments. Journal of Intelligent & Robotic Systems, 89(1-2), pp. 7-25.
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.
Description: This is a post-peer-review, pre-copyedit version of an article published in Journal of Intelligent & Robotic Systems. The final authenticated version is available online at: http://dx.doi.org/10.1007/s10846-017-0484-y.
Sponsor: 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).
Version: Accepted for publication
DOI: 10.1007/s10846-017-0484-y
URI: https://dspace.lboro.ac.uk/2134/24018
Publisher Link: https://doi.org/10.1007/s10846-017-0484-y
ISSN: 0921-0296
Appears in Collections:Published Articles (Aeronautical and Automotive Engineering)

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