Completion Time Minimization for Multi-UAV Information Collection via Trajectory Planning

Abstract

Unmanned Aerial Vehicles (UAVs) are widely used as mobile information collectors for sensors to prolong the network time in Wireless Sensor Networks (WSNs) due to their flexible deployment, high mobility, and low cost. This paper focuses on the scenario where rotary-wing UAVs complete information collection mission cooperatively. For the first time, we study the problem of minimizing the mission completion time for a multi-UAV system in a monitoring scenario when considering the information collection quality. The mission completion time includes flying time and hovering time. By optimizing the trajectories of all UAVs, we minimize the mission completion time while ensuring that the information of each sensor is collected. This problem can be formulated as a mixed-integer non-convex one which has been proved to be NP-hard. To solve the formulated problem, we first propose a hovering point selection algorithm to select appropriate hovering points where the UAVs can sequentially collect the information from multiple sensors. We model this problem as a BS coverage problem with the information collection quality in consideration. Then, we use a min-max cycle cover algorithm to assign these hovering points and get the trajectory of each UAV. Finally, with the obtained UAVs trajectories, we further consider the UAVs can also collect information when flying and optimize the time allocations. The performance of our algorithm is verified by simulations, which show that the mission completion time is minimum compared with state-of-the-art algorithms.

An Algorithm of Scene Information Collection in General Football Matches Based on Web Documents

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Optimization and Communication in UAV Networks

“…This is an exciting optimization problem. Works [ 1 , 2 , 3 , 4 ] propose different approaches to address this issue with different perspectives. Different criteria are considered to plan the trajectory of the UAV and different functions are optimized.…”

“…The data collection utility is determined by the amount and value of the collected data and a novel trajectory planning algorithm is designed to maximize it. The author of [ 3 ] focuses on the problem of minimizing the mission completion time (flying time and hovering time) for a multi-UAV system in a monitoring scenario while ensuring that the information of each sensor is collected. As for [ 4 ], the authors aim to improve the secrecy performance of cellular-enabled unmanned aerial vehicle communication networks through an aerial cooperative jamming scheme.…”

On-Demanding Information Acquisition in Multi-UAV-Assisted Sensor Network: A Satisfaction-Driven Perspective

“…e authors of [30,31] focused on the minimization problem of task completion time. While in these studies, problems of users' diverse priority-related satisfaction towards the execution effect of tasks are rarely considered.…”