Multiple-unmanned Aerial Vehicle (UAV) Mission Scheduling And Path Planning Under The 3G/4G Network

In recent years,the use of unmanned aerial vehicles(UAVs)is more and more wideling in environmental monitoring,agriculture curing,emergency relief and other fields.With the continous development of 3G/4G network,higher and higher performance,wider and wider deployment,to realize the management and control of UAVs depending on the 3G/4G network is a kind of brandnew charge mode.This mode could overcome the problem of short control distance and the limit of data transmission brandwidth of traditional stadia chain or digital/figure radio.Then how to rely on 3G/4G network to use its unique network particularity to schedule more UAV to perform environmental monitoring and treatment of emergency events becomes a new subject.Aiming at this problem,the main research is foucus on the method of multi-UAV mission scheduling and planning based on the 3G/4G network characteristics data and model,trying to plan the multiple-UAV to monitor appropriate targets at appropriate time and fly along a appropriate path in the 3G/4G network environment in order to advance the the total performance of UAVs,when the constraints in terms of the capability of UAV,quality of service,and the characteristic of time and space of network are satisfied.The core of solving this problem is to establish a reasonable model and put forward an effective solving method.Based on these two points,this paper researches on the multi-UAV mission scheduling and path planning problems in the 3G/4G network environment.The main content and innovation points are as follows.(1)Combining with the 3G/4G network time and space and QoS characteristics,this paper sets up the multi-UAV mission planning system architecture in the 3G/4G network environment.The aim of Multi-UAV task scheduling problem is to solve the UAVs resource allocation problems in the 3G/4G network environment.Due to the time characteristic of time and space of the network,the UAVs should monitor the mission points in a specific period of time.In order to satisfy the quality of service of users,this paper sums up the QoS parameters that should be satisfied.On this basis,the mathematical description of the elements of these problems is proposed,and the multiple-UAV mission scheduling model under 3G/4G network environment is set up.In the process of modeling,the complexity of the model should be considered,in order to avoid difficulties in solving due to considerations of too many factors,and whether the model can reflect the nature of the problem also should be considered.This paper bases on the team orienteering problem,considering the time and space features of 3G/4G network and the characteristics of service of quality parameters,and thus the model of this problem is estabilshed.For UAV online information transmission data volume problem,design the QoS control strategy.(2)Aiming at the multi-UAV mission scheduling model as established,this paper proposes a quick solving optimal solution based on the iterated local search.The multiple-UAV mission scheduling under the 3G/4G network environment is subject to a large amount of constraints model,thus not consiered the typical optimization model.Considering the characteristics of the problem,the ILS heuristic algorithm is proposed to solve the problem and to avoid falling into local optimum.Due to the success rate of original algorithm is not high enough,and the same strategy of insert and shake,so this paper improve the shake strategy and the heuristic strategy to get a higher success rate.In oder to verify the performance of this algorithm,this paper constructs the representative test sets.For different test sets,using the multiple-UAV mission scheduling algorithm under the 3G/4G network environment to solve it,the mission sequence suiting for different test sets are obtained.And then a comparison with ant colony algorithm is proposed,proving the feasibility and effectiveness of the algorithm.(3)According to the monitoring information transimission on-line,the model of UAV path planning considering the space distribution of network signal strength is set up,and an optimal solution based on the combining of PRM and ILS is proposed.In order to ensure UAVs could transmit the data to task ceter in real-time in the process of monitoring mission,whether the network signal level satisfies the transmitting requirement should be considered.So this paper studies the path planning of UAV during data transmission.The model of the path planning problem is established based on arc earning,and a solving method for UAV path planning problem is proposed.Cosidering the need of path planning and combining the probability map algorithm with ILS,it can solve the UAV path planning problem quickly and effectively.(4)Aming at the problem that the decrease in QoS constraint parameters generates smaller income of mission scheduling,a QoS control strategy is designed.To treat the quantities of transmission data in path planning as parameter index,the QoS parameters are adjusted in feedback.To ensure the amount of data transmission,the QoS parameters are adjusted so that it can as possible meet the demand of all UAV data transimiting volume online.