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301
Distributed Cooperative Path Planning for Multi-UAV in Information-Rich and Dynamic Environments
Published 2025-01-01“…Accurate path planning is essential for effective regional avoidance in multiple unmanned aerial vehicle (multi-UAV) systems. Existing static path-planning techniques often fail to integrate multiple information sources, resulting in diminished performance in information-rich and dynamic environments. …”
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302
Deep reinforcement learning based task allocation mechanism for intelligent inspection in energy Internet
Published 2021-05-01“…In order to reduce the cost and improve efficiency of power line inspection, UAV (unmanned aerial vehicle), which use mobile edge computing technology to access and process service data, are used to inspect power lines in the energy internet.However, due to the dynamic changes of UAV data transmission demand and geographical location, the edge server load will be unbalanced, which causes higher service processing delay and network energy consumption.Thus, an intelligent inspection task allocation mechanism for energy internet based on deep reinforcement learning was proposed.First, a two-layer edge network task offloading model was established to archive joint optimization of multi-objectives, such as delay and energy consumption.It was designed by comprehensively considering the route of UAV and edge nodes, different demands of services and limited service capabilities of edge nodes.Furthermore, based on Lyapunov optimization theory and dual-time-scaled mechanism, proximal policy optimization algorithm based deep reinforcement learning was used to solve the connection relationship and offloading strategy of edge servers between fixed edge sink layer and mobile edge access layer.The simulation results show that, the proposed mechanism can reduce the service request delay and system energy consumption while ensuring the stability of system.…”
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303
Energy consumption optimization scheme in UAV-assisted MEC system based on optimal SIC order
Published 2024-02-01“…In uplink non-orthogonal multiple access (NOMA)-based unmanned aerial vehicle (UAV)-assisted mobile edge computing (MEC) system, the successive interference cancellation (SIC) order of NOMA became a bottleneck limiting the transmission performance of task offload in uplink link.To reduce the energy consumption of the system, the SIC order was discussed and the optimal SIC order based on channel gain and task delay constraint was proposed.The optimization problem of minimizing the system energy consumption was proposed based on the optimal SIC order while satisfying the constraints of the given task delay of the device, the maximum transmit power constraint of the device, and the UAV trajectory.Since the problem was a complex non-convex problem, an alternating optimization method was adopted to solve the optimization problem to achieve power allocation and UAV trajectory optimization.A low-complexity algorithm based on matching theory was proposed to obtain the optimal device grouping in different time slots.Simulation results show that the optimal SIC order can realize smaller system energy consumption under the same task delay constraint compared with other SIC order, the proposed low-complexity device grouping algorithm can obtain the optimal device grouping.…”
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304
A Miniaturized High-Gain Flexible Antenna for UAV Applications
Published 2021-01-01“…A miniaturized high-gain flexible unmanned aerial vehicle (UAV) antenna is presented in this study. …”
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305
GAYA ANGKAT DAN GAYA HAMBAT SAYAP PUNA MODEL NACA 0015 MENGGUNAKAN SIMULASI ANSYS FLUENT
Published 2024-12-01“…The simulation uses Ansys Fluent to determine the aerodynamic characteristics, after varying the angle of attack at a predetermined speed on an airplane (unmanned aerial vehicle) wing with a NACA 0015 airfoil. The results of the research that has been carried out are the maximum angle of attack at a predetermined speed variation (Re = 0.2 x 105 to 1.0 x 105), namely 25° at each angle of attack, with details of a speed of 50 m/s getting the highest lifting force, around 38,72 N and drag force in the area 6,49 N.…”
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306
METHODOLOGY TO IMPROVE THE ACCURACY OF DETERMINING THE POSITION OF UAVS EQUIPPED WITH SINGLE-FREQUENCY RECEIVERS FOR THE PURPOSES OF GATHERING DATA ON AVIATION OBSTACLES
Published 2023-06-01“…The low altitude of the Unmanned Aerial Vehicle (UAV) flight guarantees high spatial resolution (X, Y) of the obtained data. …”
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307
Filtered Medial Surface Based Approach for 3D Collision-Free Path Planning Problem
Published 2018-01-01“…This paper introduces an original 3D path planning approach for Unmanned Aerial Vehicle (UAV) applications. More specifically, the core idea is to generate a smooth and collision-free path with respect to the vehicle dimension. …”
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308
Security communication and energy efficiency optimization strategy in UAV-aided edge computing
Published 2023-03-01“…The flexible mobility of the unmanned aerial vehicle (UAV) has attracted widespread attention in the mobile edge computing (MEC) system.However, the existence of eavesdroppers in the air makes it a huge challenge for its secure transmission.In order to solve the contradiction between high safe communication rate and low energy consumption, the concept of security communication energy efficiency was introduced, that was, the ratio between UAV safe communication transmission rate and UAV energy consumption.Firstly, to subject the task delay constraint, limited UAV CPU frequency and task offloading rate constraint, an offloading strategy was proposed to maximize the energy efficiency of secure communication by jointly optimizing the legal UAV hover location, CPU frequency allocation and distinguishing the complexity of computing tasks, while improving the security communication in the UAV-MEC scenario from the perspective of physical layer security.Secondly, to address the non-convex optimization problem, it was decomposed into three sub-problems that were solved with block coordinate descent and the successive convex approximation (SCA) methods respectively.The simulation results show that, with different task complexity, the proposed strategy can balance the relationship between the overall secure communication performance and energy consumption, while meeting the offloading requirements of ground terminals.And then it improves secrecy energy efficiency.…”
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309
Numerical Simulations of the Effect on Aerodynamic Performances of the Inter-propeller Distance in a Contra-rotating Propeller
Published 2025-02-01“…This field has gained increasing relevance owing to advancements in unmanned aerial vehicle technologies. The primary objective of this study was to evaluate the effect of interpropeller distance on the aerodynamic performance of CRPs, measured using the thrust coefficient (CT ), power coefficient (Cp) , and efficiency (η). …”
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310
Cooperative Search Optimization of an Unknown Dynamic Target Based on the Modified TPM
Published 2022-01-01“…Aiming to address the problem of unknown dynamic target trajectory prediction and search path optimization in unmanned aerial vehicle (UAV) swarm path planning, this paper proposes a target search algorithm based on a modified target probability map (TPM). …”
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311
Multi-agent resource allocation strategy for UAV swarm-based cooperative sensing
Published 2023-03-01“…Driven by the development of intelligent internet of things (IoT) technology, unmanned aerial vehicle (UAV) swarms have been widely used for sensing and monitoring in emergency and rescue scenarios.The UAVs automatically sense and discover mission targets in the mission area, recruiting neighboring UAVs to form perception and computation task groups to collaboratively complete the perception, acquisition and processing of data.However, repetitive sensory data and imbalance in the supply and demand of computational resources between multiple tasks cause additional computational and communication overheads and increase the end-to-end processing latency.To address this challenge, a multi-task resource allocation approach combining bionics and multi-agent independent reinforcement learning was proposed, making collaborative resource allocation decisions based on local task information.The method represents the resource requirements of individual tasks as situational information concentrations and dynamically updates the heterogeneous resource requirements of each task by spreading the situational information across task groups.At the same time, it combines multi-agent independent reinforcement learning methods for intelligent decision making in order to collaboratively allocate the heterogeneous resources of each task.Simulation results show that this solution can not only effectively reduce the task execution time, but also significantly improve the computational resource utilization.…”
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312
Edge-assisted UAV onboard video compression and transmission for efficient inference of patrolling tasks
Published 2024-12-01“…The problem of region of interest (RoI) extraction and transmission of video frames captured in edge-assisted unmanned aerial vehicle (UAV) systems was investigated to improve the inference performance of patrolling tasks. …”
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313
Multi-UAV cooperative channel model for emergency communication
Published 2023-07-01“…To carry out the system design and technology development for emergency communications, and greatly improve our ability of risk prevention and emergency disposal, the research on multi-unmanned aerial vehicle (multi-UAV) cooperative channel model for emergency communications was carried out.First, the channel dataset of multi-UAV cooperative emergency communications in two typical emergency environments, i.e., the urban earthquake and suburban blizzard, was established.The channel parameters and statistical properties of multi-UAV cooperative emergency communications were analyzed.Second, a more general geometry-based stochastic channel model (GBSM) was proposed for multi-UAV cooperative emergency communications.The channel impulse response (CIR) and the cooperative non-station arity of multi-UAV cooperative channels in the space and time domains in multi-UAV cooperative emergency communications were calculated and captured.Finally, the channel characteristics of multi-UAV cooperative emergency communication in urban earthquake and suburban blizzard scenarios were analyzed, which could support the practical implementation of multi-UAV cooperative emergency communications.Meanwhile, the statistical characteristic of the proposed model can fit well with that of ray-tracing-based channel data, verifying the utility of the proposed model.…”
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314
Fault Tolerant Control Algorithm of Hexarotor UAV
Published 2020-01-01“…As the best representative of the current cutting-edge technology, unmanned aerial vehicle (UAV) is widely used in various fields such as electric power inspection, agriculture, forestry and plant protection, fire rescue, and film and television shooting. …”
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315
A study on UAV target detection and 3D positioning methods based on the improved deformable DETR model and multi-view geometry
Published 2025-01-01“…This paper addresses critical challenges in Unmanned Aerial Vehicle (UAV) target detection and 3D positioning, specifically inaccuracies in localization and lack of robustness in complex environments. …”
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316
Autonomous Landing of a Fixed-Wing UAV With RTK GNSS and MEMS IMU
Published 2025-01-01“…Autonomous landing system is an important part of unmanned aerial vehicle (UAV) autonomous flight. Large fixed-wing UAVs often consume more onboard space and computing resources. …”
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317
An energy self-sustaining scheduling scheme for UAV delivery networks
Published 2024-06-01“…In recent years, the demand of express industry has increased rapidly, and the express industry is under increasing pressure. The unmanned aerial vehicle (UAV) delivery has become an effective supplement to vehicle delivery due to its low human cost, flexibility and convenience. …”
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318
Large-scale post-disaster user distributed coverage optimization based on multi-agent reinforcement learning
Published 2022-08-01“…In order to quickly restore emergency communication services for large-scale post-disaster users, a distributed intellicise coverage optimization architecture based on multi-agent reinforcement learning (RL) was proposed, which could address the significant differences and dynamics of communication services caused by a large number of access users, and the difficulty of expansion caused by centralized algorithms.Specifically, a distributed k-sums clustering algorithm considering service differences of users was designed in the network characterization layer, which could make each unmanned aerial vehicle base station (UAV-BS) adjust the local networking natively and simply, and obtain states of cluster center for multi-agent RL.In the trajectory control layer, multi-agent soft actor critic (MASAC) with distributed-training-distributed-execution structure was designed for UAV-BS to control trajectory as intelligent nodes.Furthermore, ensemble learning and curriculum learning were integrated to improve the stability and convergence speed of training process.The simulation results show that the proposed distributed k-sums algorithm is superior to the k-means in terms of average load efficiency and clustering balance, and MASAC based trajectory control algorithm can effectively reduce communication interruptions and improve the spectrum efficiency, which outperforms the existing RL algorithms.…”
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319
Suspended Load Path Tracking Control Strategy Using a Tilt-Rotor UAV
Published 2017-01-01“…This work proposes a control strategy to solve the path tracking problem of a suspended load carried by a tilt-rotor unmanned aerial vehicle (UAV). Initially, the equations of motion for the multibody mechanical system are derived from the load’s perspective by means of the Euler-Lagrange formulation, in which the load’s position and orientation are chosen as degrees of freedom. …”
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320
Heterogeneous UAV Swarm Collaborative Search Mission Path Optimization Scheme for Dynamic Targets
Published 2024-01-01“…To solve the problem of collaborative search mission planning (CSMP) for a heterogeneous unmanned aerial vehicle (UAV) swarm for dynamic targets, this paper proposes a new CSMP scheme for a heterogeneous UAV swarm. …”
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