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

doi:10.3390/s19184032

. 2019 Sep 18;19(18):4032.

doi: 10.3390/s19184032.

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

Zhen Qin¹, Aijing Li², Chao Dong³, Haipeng Dai⁴, Zhengqin Xu⁵

Affiliations

¹ College of Communications Engineering, Army Engineering University of PLA, Nanjing 210042, China. qzqzla912@163.com.
² College of Communications Engineering, Army Engineering University of PLA, Nanjing 210042, China. lishan_wh@163.com.
³ College of Electronic and Information Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China. dch@nuaa.edu.cn.
⁴ Department of Computer Science and Technology, Nanjing University, Nanjing 210023, China. haipengdai@nju.edu.cn.
⁵ College of Communications Engineering, Army Engineering University of PLA, Nanjing 210042, China. zhengqinxu66@163.com.

PMID: 31540537
PMCID: PMC6767661
DOI: 10.3390/s19184032

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

Zhen Qin et al. Sensors (Basel). 2019.

. 2019 Sep 18;19(18):4032.

doi: 10.3390/s19184032.

Authors

Zhen Qin¹, Aijing Li², Chao Dong³, Haipeng Dai⁴, Zhengqin Xu⁵

Affiliations

¹ College of Communications Engineering, Army Engineering University of PLA, Nanjing 210042, China. qzqzla912@163.com.
² College of Communications Engineering, Army Engineering University of PLA, Nanjing 210042, China. lishan_wh@163.com.
³ College of Electronic and Information Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China. dch@nuaa.edu.cn.
⁴ Department of Computer Science and Technology, Nanjing University, Nanjing 210023, China. haipengdai@nju.edu.cn.
⁵ College of Communications Engineering, Army Engineering University of PLA, Nanjing 210042, China. zhengqinxu66@163.com.

PMID: 31540537
PMCID: PMC6767661
DOI: 10.3390/s19184032

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.

Keywords: mission completion time; trajectory planning; unmanned aerial vehicle; wireless sensor networks.

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Conflict of interest statement

The authors declare no conflict of interest.

Figures

**Figure 2**
FHF trajectory planning algorithm.

**Figure 5**
Different number of sensors.

**Figure 7**
Different communication radius.

**Figure 8**
Different monitoring area size.

See this image and copyright information in PMC

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References

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[1] Ma C., Liang W., Zheng M., Sharif H. A connectivity-aware approximation algorithm for relay node placement in Wireless Sensor Networks. IEEE Sens. J. 2015;16:515–528. doi: 10.1109/JSEN.2015.2456931. - DOI

[2] Ma C., Liang W., Zheng M., Sharif H. A connectivity-aware approximation algorithm for relay node placement in Wireless Sensor Networks. IEEE Sens. J. 2015;16:515–528. doi: 10.1109/JSEN.2015.2456931. - DOI

[3] Zhao M., Li J., Yang Y. A framework of joint mobile energy replenishment and data gathering in Wireless Rechargeable Sensor Networks. IEEE Trans. Mob. Comput. 2014;13:2689–2705. doi: 10.1109/TMC.2014.2307335. - DOI

[4] Zhao M., Li J., Yang Y. A framework of joint mobile energy replenishment and data gathering in Wireless Rechargeable Sensor Networks. IEEE Trans. Mob. Comput. 2014;13:2689–2705. doi: 10.1109/TMC.2014.2307335. - DOI

[5] Kim H., Han S. An efficient sensor deployment scheme for large-scale Wireless Sensor Networks. IEEE Commun. Lett. 2015;19:98–101. doi: 10.1109/LCOMM.2014.2372015. - DOI

[6] Kim H., Han S. An efficient sensor deployment scheme for large-scale Wireless Sensor Networks. IEEE Commun. Lett. 2015;19:98–101. doi: 10.1109/LCOMM.2014.2372015. - DOI

[7] Bukhari S.H.R., Rehmani M.H., Siraj S. A survey of channel bonding for wireless networks and guidelines of channel bonding for futuristic cognitive radio sensor networks. IEEE Commun. Surv. Tutor. 2015;18:924–948. doi: 10.1109/COMST.2015.2504408. - DOI

[8] Bukhari S.H.R., Rehmani M.H., Siraj S. A survey of channel bonding for wireless networks and guidelines of channel bonding for futuristic cognitive radio sensor networks. IEEE Commun. Surv. Tutor. 2015;18:924–948. doi: 10.1109/COMST.2015.2504408. - DOI

[9] Mozaffari M., Saad W., Bennis M., Debbah M. Mobile Unmanned Aerial Vehicles (UAVs) for energy- efficient Internet of Things communications. IEEE Trans. Wirel. Commun. 2017;16:7574–7589. doi: 10.1109/TWC.2017.2751045. - DOI

[10] Mozaffari M., Saad W., Bennis M., Debbah M. Mobile Unmanned Aerial Vehicles (UAVs) for energy- efficient Internet of Things communications. IEEE Trans. Wirel. Commun. 2017;16:7574–7589. doi: 10.1109/TWC.2017.2751045. - DOI

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

Affiliations

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

Authors

Affiliations

Abstract

Conflict of interest statement

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References

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