Optimal Real Time Drone Path Planning for Harvesting Information from a Wireless Sensor Network
arxiv(2023)
摘要
We consider a remote sensing system in which fixed sensors are placed in a
region, and a drone flies over the region to collect information from cluster
heads. We assume that the drone has a fixed maximum range, and that the energy
consumption for information transmission from the cluster heads increases with
distance according to a power law. Given these assumptions, we derive local
optimum conditions for a drone path that either minimizes the total energy or
the maximum energy required by the cluster heads to transmit information to the
drone. We show how a homotopy approach can produce a family of solutions for
different drone path lengths, so that a locally optimal solution can be found
for any drone range. We implement the homotopy solution in python, and
demonstrate the tradeoff between drone range and cluster head power consumption
for several geometries. Execution time is sufficiently rapid for the
computation to be performed real time, so the drone path can be recalculated on
the fly. The solution is shown to be globally optimal for sufficiently long
drone path lengths. For future work, we indicate how the solution can be
modified to accommodate moving sensors.
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