Optimal Trajectories of a UAV Base Station Using Lagrangian Mechanics
Optimal Trajectories of a UAV Base Station Using Lagrangian Mechanics
复制标题
DOI：
10.1109/infcomw.2019.8845287
复制
发表时间：
2018-12
期刊：
影响因子：
--
通讯作者：
M. Coupechoux;J. Darbon;J. Kelif;M. Sigelle
中科院分区：
文献类型：
--
作者：
M. Coupechoux;J. Darbon;J. Kelif;M. Sigelle
研究了无人机基站的轨迹优化问题。被认为是一个地图，其特征在于一个交通强度的用户服务。UAV BS必须在给定持续时间内从初始时间的给定初始位置行进到最终位置，并且在其途中服务于交通。问题在于找到最佳的轨迹，最大限度地减少一定的成本取决于速度和服务的流量。该问题是制定使用拉格朗日力学的框架。当交通强度为二次（单相）时，我们推导出最佳轨迹的封闭式公式。当交通强度为双相位时，给出了最优性的必要条件，并提出了一种交替优化算法，该算法可以返回满足这些条件的轨迹。该算法使用模型预测控制（MPC）在线算法进行初始化。数值结果表明，如何改善的轨迹相对于MPC的解决方案。
This paper considers the problem of optimizing the trajectory of an Unmanned Aerial Vehicle (UAV) Base Station (BS). A map is considered, characterized by a traffic intensity of users to be served. The UAV BS must travel from a given initial location at an initial time to a final position within a given duration and serves the traffic on its way. The problem consists in finding the optimal trajectory that minimizes a certain cost depending on the velocity and on the amount of served traffic. The problem is formulated using the framework of Lagrangian mechanics. When the traffic intensity is quadratic (single-phase), we derive closed-form formulas for the optimal trajectory. When the traffic intensity is bi-phase, necessary conditions of optimality are provided and an Alternating Optimization Algorithm is proposed, that returns a trajectory satisfying these conditions. The Algorithm is initialized with a Model Predictive Control (MPC) online algorithm. Numerical results show how the trajectory is improved with respect to the MPC solution.