Research On Path Planning And Scheduling Strategy Of Multi-Target UAV With Energy Harvesting

In recent years,wireless communication technology has made great progress.With the continuous emergence of Internet of things（IOT）and other services,a series of disadvantages of traditional communication infrastructure（such as high deployment cost,fixed location,etc.）begin to show up.unmanned aerial vehicle（UAV）is widely used in various fields because of its advantages of high cost performance,strong flexibility,easy deployment,easy operation and wide coverage.On the one hand,because the UAV is at a high flight altitude,it is easier to establish a line of sight（LOS）channel with ground equipment,so as to improve the information transmission rate and reduce the information transmission delay;On the other hand,the mobility of UAV makes the network deployment more flexible and can provide people with more convenient network services according to the actual needs.In the face of more complex and diversified communication environment,the application of UAV in reality still faces great challenges.Firstly,the position and flight trajectory of UAV are closely related to time delay,age of information（Ao I）,system capacity,etc.Therefore,it is necessary to reasonably plan the path of UAV.At the same time,in the current research on UAV path planning,most of them focus on the path problem between single starting point and single end point,and do not consider the path planning problem from single starting point to multi-objective points.In addition,because the UAV is an energy limited system,the UAV will run out of energy during the mission,which will lead to the interruption of communication in the designated area and affect the survival time of the system.In order to ensure the continuous service of UAV,the emergence of radio frequency（RF）energy collection technology enables UAV to supplement energy from RF signal and effectively solve the problem of UAV energy supply.To solve the above problems,this paper proposes a multi-objective UAV path planning and scheduling strategy with energy harvesting（EH）.The main research ideas are as follows: firstly,the multi-objective UAV information transmission system model and the multi-objective UAV information transmission system model with energy harvesting are designed;Secondly,according to the established system model,the respective transmission protocols are proposed,and the mathematical expression of system information age is derived;Finally,the simulation comparison experiment is carried out through MATLAB.The main contributions of this paper are as follows:1.This paper studies the multi-objective path planning of UAV.Facing the scene of UAV performing multi-target point perception task under single equipment set,taking the minimization of information age as the optimization goal,the UAV perception and transmission process are studied,and a joint optimization algorithm of sensing times and trajectory of multi-objective UAV（JST）is proposed.The specific description is as follows:firstly,The multi-target UAV information transmission system model and transmission protocol are constructed,and the mathematical expression of system information ag e is derived.Secondly,the optimization variables of the problem include both discrete and continuous variables,which is difficult to solve directly.Therefore,a joint optimization algorithm of perception times and flight path of multi-objective UAV is proposed.For the UAV perception optimization subproblem,the monotonic relationship between perception times and information age is obtained by transforming the objective function,and finally the optimal perception times is obtained;For the path planning subproblem of UAV,based on the traditional artificial potential field algorithm,a multi-objective artificial potential field method is proposed to obtain the flight path of UAV.Finally,the rationality and effectiveness of the algorithm are verified by mathematical simulation.2.This paper studies the path planning and scheduling strategy of multi-objective UAV Based on energy collection.For the scenario where the energy of UAV is limited when performing multi device set tasks,RF energy is used to supplement the energy of UAV to ensure the sustainability and reliability of UAV work.At the same time,in order to ensure the balance between UAV energy receiving time and UAV work,taking the minimization of information age as the optimization goal,the flight trajectory and scheduling strategy of UAV are studied,and a multi-objective UAV sensing transmission scheduling algorithm（DQN-STS,sensing transmission scheduling algorithm of multi-objective UAV Based on DQN）based on deep Q network is proposed.The specific description is as follows: firstly,The multi-target UAV information transmission system model and transmission protocol for energy collection are constructed,and the mathematical expression of system information age is derived.Then,because the multi device set path planning problem of UAV under energy constraints can be simplified to the UAV perceptual transmission problem and UAV scheduling problem of single device set,a multi-objective UAV perceptual transmission scheduling algorithm based on DQN is proposed,which decomposes the original problem into UAV perceptual transmission subproblem and UAV scheduling subproblem.Among them,the UAV perception transmission subproblem can be solved by the joint optimization algorithm of multi-objective UAV perception times and flight trajectory;For the UAV scheduling subproblem,the problem can be transformed through Markov decision process（MDP）,and the optimal scheduling strategy can be obtained through DQN algorithm.Finally,the convergence of the algorithm is proved by simulation.