Journal
CONTROL ENGINEERING PRACTICE
Volume 29, Issue -, Pages 42-49Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.conengprac.2014.04.003
Keywords
Unmanned aerial vehicles; Communications relay; Trajectory planning; Global message connectivity; Minimum spanning tree
Funding
- Chungnam National University
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This paper investigates the use of small UAVs as communication relay nodes for expanding communication links and improving communication quality for a fleet of naval vessels. This paper firstly deals with the UAV deployment for stationary communication nodes, and then, proposes a decentralised nonlinear model predictive trajectory planning strategy for a dynamic environment. By exploiting motion estimates of vessels and states of UAVs, the trajectory planning algorithm finds a control input sequence optimising network connectivity over a certain time horizon. Numerical simulations are performed for both stationary and manoeuvring vessels to verify the feasibility and benefit of the proposed approach. (C) 2014 Elsevier Ltd. All rights reserved.
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