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Download fileCoordinated trajectory planning for efficient communication relay using multiple UAVs
journal contribution
posted on 2015-06-12, 15:46 authored by Seungkeun Kim, Hd Oh, Jinyoung Suk, Antonios TsourdosThis paper investigates the use of small UAVs as communication relay nodes for expanding communication 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.
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School
- Aeronautical, Automotive, Chemical and Materials Engineering
Department
- Aeronautical and Automotive Engineering