A trajectory planning method and device for collecting information by UAV
A technology for collecting information and trajectory planning, applied in the field of the Internet of Things, can solve problems such as freshness and inability to guarantee information, and achieve a time-sensitive effect
Active Publication Date: 2021-06-11
BEIJING UNIV OF POSTS & TELECOMM +1
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[0006] However, although the existing technology can optimize both the transmission energy and the flight energy, due to the timeliness of the information, the flight trajectory generated by the above method cannot guarantee whether the collected information is fresh or not.
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[0068] The technical solutions in the embodiments of the present invention will be described below with reference to the accompanying drawings in the embodiments of the present invention.
[0069] If there is an adjustment strategy for a certain scheme, so that after the original scheme is adjusted, it can benefit at least one party without losing any other party, then this adjustment strategy is called Pareto improvement . Simply put, for the interests of multiple parties, Pareto improvement is to make the interests of some parties better on the premise that the interests of each party are not reduced. That is to say, if there is no room for Pareto improvement for a certain allocation scheme, it can be said that this scheme has reached Pareto optimality. This means that the Pareto optimal situation is one that is satisfactory to all parties and is beneficial to the whole. In this case, if some parties want to increase their own interests, they can only harm the interests of...
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The embodiment of the present invention provides a trajectory planning method and device applied to UAVs to collect information. The method uses the preset parameters of the UAV wing, the weight of the UAV and the radius of the arc to satisfy the preset Under the constraint conditions, the target Pareto relational expressions corresponding to the circular arc segment and the straight line segment in the preset flight trajectory are respectively constructed. According to the target Pareto relational expression, using the preset flight energy or the preset average information age, respectively Determine the arc radius corresponding to the arc segment and the arc radius corresponding to the straight line segment; take the information collection point and the information collection point as the centers respectively, and use any of the determined arc radii to generate a flight trajectory. The flight trajectory generated by applying the solution provided by the embodiment of the present invention enables the average information age of the collected information to be time-sensitive while ensuring the flight energy used by the drone.
Description
technical field [0001] The invention relates to the technical field of the Internet of Things, in particular to a trajectory planning method and device used for collecting information by an unmanned aerial vehicle. Background technique [0002] In recent years, the Internet of Things technology has received extensive attention and in-depth development, and has been rapidly applied in the fields of intelligent logistics, intelligent medical care, and intelligent industry and agriculture. Among them, the wireless sensor network technology based on the perception layer of the Internet of Things is the underlying key technology to realize various functions of the Internet of Things, and has received extensive attention from experts and scholars. [0003] In the prior art, the wireless sensor network corresponding to the above wireless sensor network technology includes: sensor nodes distributed on the ground as information collection points, unmanned aerial vehicles and base sta...
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IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 秦晓琦袁永琼贾泽坤刘宝玲张治宋婧
Owner BEIJING UNIV OF POSTS & TELECOMM