Research On A Game Approach For Multi-UAV Coverage And Deployment Based On Deterministic Radio Wave Propagation Model In Specific Urban Areas

Due to the progress of intelligent equipment and communication technology,the development of unmanned aerial vehicle(UAV)has made great achievements in recent decades,and its application scope covers a number of military and civilian fields.Due to the limited coverage of single UAV,it has become a hot topic to build a cluster communication network with multi-UAV to increase the coverage.In the multi-UAV coverage problem,most of the existing research work on the multi-UAV coverage problem adopts the statistical model for modeling.Although it is universal,there are certain errors in the path loss calculated by the statistical model in urban areas with complex actual environment,and it will affect the final UAV coverage result.To solve this problem,the deterministic radio wave propagation model is used to replace the traditional statistical model to study the 2D and 3D coverage of UAV in urban areas.The main work of thesis is summarized as follows:(1)Focus on UAV coverage in specific urban areas,a multi-UAV coverage method based on deterministic radio wave propagation model is proposed.Firstly,the deterministic radio wave propagation model is used to simulate the path loss between the UAV and the ground equipment,and the coverage area of the UAV is determined by setting the receiving power threshold.By this way,the global utility function and local utility function are designed,and the coverage effect of the UAV is measured based on the functions.The multi-UAV coverage problem is modeled as a potential game model and proved to be an exact potential game with Nash equilibrium solution.The constrained action set of UAV is designed and the moving rules of UAV are limited.In order to verify the effectiveness of the proposed method,simulation experiments were carried out in Haidian Island of Haikou City and some urban areas of Guangzhou City.Comparison with four UAV coverage methods based on statistical models proved that the proposed method can achieve better coverage effect in urban areas.(2)A multi-UAV 3D coverage method of urban areas based on intelligent ray tracing method(IRT)was proposed to extend model from 2D to 3D.Firstly,the 3D deployment of urban areas is modeled as a potential game,and the problem is proved to be an exact potential game with Nash equilibrium.The path loss between UAV and ground receiver at different altitudes was calculated by IRT.A binary log-linear learning algorithm based on IRT for 3D deployment of multiple UAVs was proposed to carry out 3D coverage of multiple UAVs,and it was proved that the proposed method effectively improved the coverage effect of UAVs.