3D Unmanned Aerial Vehicle Trajectory Design for Wireless Power Transfer
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摘要: 在无人机(UAV)辅助的无线网络中，UAV轨迹设计可以有效地提升无线网络系统性能。然而，3维场景下的UAV轨迹设计问题因其高复杂性，目前仍是开放性研究问题，并缺少高性能的求解方案。该文针对具有一般性的无线能量传输(WPT)系统中UAV 3维轨迹设计问题，在凸空间下，基于间续悬飞(SHF)的最优轨迹结构，提出获得高性能3维轨迹的求解方案。Abstract: In Unmanned Aerial Vehicle (UAV)-enabled wireless network, the trajectory design of UAV can effectively improve the system performance. However, due to the high complexity in 3D scenario, UAV trajectory design is still an open research problem, where effective solutions are still missing. For UAV 3D trajectory design problems in general Wireless Power Transfer (WPT) system, this paper proposes a solution to obtain effective 3D trajectory based on the Successive Hovering and Flying (SHF) structure in convex space.
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表 1 3维UAV轨迹设计迭代算法
初始化： 由3维旅行商问题求解初始点$\left( { {{\boldsymbol{x}}^{\left( 0 \right)} },{{\boldsymbol{y}}^{\left( 0 \right)} },{{\boldsymbol{z}}^{\left( 0 \right)} },{{\boldsymbol{t}}^{\left( 0 \right)} } } \right)$。 迭代次数$r = 0$。 首次最优值对比值${E^{\left( { - 1} \right) * }} = 0$。 第r次迭代： (1) 基于式(悬停和飞行部分)在点$\left( { {{\boldsymbol{x}}^{\left( r \right)} },{{\boldsymbol{y}}^{\left( r \right)} },{{\boldsymbol{z}}^{\left( r \right)} },{{\boldsymbol{t}}^{\left( r \right)} } } \right)$建立近
似表达式$E_k^{\left( r \right)}\left( {{\boldsymbol{x}},{\boldsymbol{y}},{\boldsymbol{z}},{\boldsymbol{t}}} \right)$；(2) 求解凸问题(P3)，获得最优点$\left( {{x^{\left( r \right)*}},{y^{\left( r \right)*}},{z^{\left( r \right)*}},{t^{\left( r \right)*}}} \right)$和最
优值${E^{\left( r \right) * }}$；(3) If 满足收敛条件${E}^{\left(r\right)\ast }-{E}^{\left(r-1\right)\ast } < \epsilon$，其中$\epsilon$为极小阈值； 最优解$ \left( {{x^*},{y^*},{z^*},{t^*}} \right) = \left( {{x^{\left( r \right)*}},{y^{\left( r \right)*}},{z^{\left( r \right)*}},{t^{\left( r \right)*}}} \right),$
${E^ * } = {E^{\left( r \right) * }} $；结束迭代； Else $\left( {{x^{\left( {r + 1} \right)}},{y^{\left( {r + 1} \right)}},{z^{\left( {r + 1} \right)}},{t^{\left( {r + 1} \right)}}} \right) = $
$ \left( {{x^{\left( r \right)*}},{y^{\left( r \right)*}},{z^{\left( r \right)*}},{t^{\left( r \right)*}}} \right)$；$r = r + 1$； 返回 (1)。 End 
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