CN111552313B - Multi-unmanned aerial vehicle path planning method based on edge calculation dynamic task arrival - Google Patents
Multi-unmanned aerial vehicle path planning method based on edge calculation dynamic task arrival Download PDFInfo
- Publication number
- CN111552313B CN111552313B CN202010357106.2A CN202010357106A CN111552313B CN 111552313 B CN111552313 B CN 111552313B CN 202010357106 A CN202010357106 A CN 202010357106A CN 111552313 B CN111552313 B CN 111552313B
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- user
- time slot
- optimization
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000004364 calculation method Methods 0.000 title claims description 8
- 238000005457 optimization Methods 0.000 claims abstract description 90
- 238000005265 energy consumption Methods 0.000 claims abstract description 27
- 238000004891 communication Methods 0.000 claims abstract description 14
- 230000008569 process Effects 0.000 claims description 10
- 238000012545 processing Methods 0.000 claims description 5
- 125000000217 alkyl group Chemical group 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000012888 cubic function Methods 0.000 claims description 3
- 230000014509 gene expression Effects 0.000 claims description 3
- 238000004088 simulation Methods 0.000 abstract description 8
- 238000004422 calculation algorithm Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000036962 time dependent Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a multi-unmanned aerial vehicle path planning method based on edge computing dynamic task arrival, which comprises the following steps: establishing a system model of a plurality of unmanned aerial vehicle cooperative service users; constructing a path planning problem of multiple unmanned aerial vehicles; simplifying the problem into an optimization problem in a single time slot; and decomposing the optimization problem into a user frequency optimization sub-problem and a joint optimization problem of multi-unmanned aerial vehicle path optimization and user association sub-problems. Compared with a single unmanned aerial vehicle scene, the method and the system have the advantages that multiple tasks and energy queues of multiple unmanned aerial vehicles are increased, and scheduling limitation conditions are increased to ensure cooperative communication among the multiple unmanned aerial vehicles. In addition, in order to solve the complex multi-unmanned aerial vehicle path planning and scheduling problem, the Lyapunov queue optimization theory and the block iterative descent algorithm are combined, and the problem complexity is further reduced by utilizing linear relaxation and continuous convex approximation. Simulation results show that compared with a single unmanned aerial vehicle system, the multi-unmanned aerial vehicle service ground user system has the advantages that the energy consumption of the unmanned aerial vehicle is reduced to some extent, and the queue backlog task amount is reduced.
Description
Technical Field
The invention belongs to the technical field of wireless communication, and particularly relates to a multi-unmanned aerial vehicle path planning method based on edge calculation dynamic task arrival.
Background
With the development of the times and the demands of users on communication and data processing, the unmanned aerial vehicle is widely applied to providing communication services for ground users in real time by combining with a small base station. Considering the energy consumption limitation of the unmanned aerial vehicle, in order to maximize the working energy efficiency of the unmanned aerial vehicle, the flight path of the unmanned aerial vehicle needs to be reasonably planned.
Through optimizing its flight path, unmanned aerial vehicle can fly toward the direction of preferred user to shorten the distance between the two, improve channel capacity. However, being too close to a user means being further away from other users (assuming that the users are evenly distributed within a certain range), resulting in a poor communication service for the remote users. Meanwhile, frequent movement can lead to excessive energy consumption of the unmanned aerial vehicle, and the service time of the unmanned aerial vehicle is shortened. Therefore, a reasonable flight path is set, and the maximum system efficiency is the key point of the research direction of the unmanned aerial vehicle while meeting the requirements of each user. Paper 1 "Joint traffic and Communication Design for UAV-Enabled Multiple Access" uses continuous convex optimization technique to plan the flight path of unmanned aerial vehicle base station. Under the limitation of the flight speed of the unmanned aerial vehicle, the problem is firstly modeled into a non-convex mixed integer optimization problem, then the problem is decomposed according to different optimization variables through an iterative algorithm, and finally the optimal flight track of the unmanned aerial vehicle is solved by using a continuous convex optimization technology. Therefore, the minimum throughput is maximized, and the system performance is obviously improved while the fairness is ensured. Paper 2 "Joint traffic and Communication Design for Multi-UAV Enabled Wireless Networks" envisages a Communication model with multiple drones as base stations on the basis of paper 1. The throughput of the system is further improved by using the multiple unmanned aerial vehicles to cooperatively serve the ground users. Unlike paper 2, which considers multiple drones, paper 3, "Common Throughput visualization in UAV-Enabled OFDMA Systems With Delay configuration", considers the Delay constraints proposed by the users for better serving them. And further, on the basis of an OFDM communication mechanism, an optimal unmanned aerial vehicle path is planned by utilizing a continuous convex optimization technology.
To sum up, in the current phase, the energy consumption of the drone is not considered in the path planning scheme for the drone, and the waiting delay caused by the limited processing capability of the base station server is ignored in the service user process of the drone. Meanwhile, the single unmanned aerial vehicle path planning has the condition of low communication efficiency in a large-range area due to the limited capability of the single unmanned aerial vehicle.
Disclosure of Invention
The invention aims to provide a multi-unmanned aerial vehicle path planning method based on edge computing dynamic task arrival.
The technical solution for realizing the purpose of the invention is as follows: a multi-unmanned aerial vehicle path planning method based on edge computing dynamic task arrival comprises the following steps:
step 3, simplifying the multi-unmanned aerial vehicle path planning problem in the whole period by utilizing a Lyapunov queue optimization theory, and obtaining an optimization problem in a single time slot;
and 4, sequentially further optimizing the optimization problem in each single time slot according to the time sequence: and decomposing the optimization problem in the single time slot into a user frequency optimization sub-problem and a joint optimization problem of multi-unmanned aerial vehicle path optimization and user association sub-problems, and solving the two sub-problems.
Further, the step 1 of establishing a system model of a ground user of the multi-unmanned aerial vehicle cooperative service specifically includes:
step 1-1, defining relevant variables of a ground user, comprising:
defining the number of users as K;
defining the user geographical location:
zk=(xk,yk),k∈{1,2,…K}
in the formula, zkIs the geographic location of the kth user, (x)k,yk) Geographical location coordinates for the kth user;
step 1-2, defining relevant variables of the unmanned aerial vehicle, including:
The formula represents a task cycleThe time slot comprises T time slots, and the length of each time slot is delta;
The formula represents the number set of unmanned aerial vehiclesThe unmanned aerial vehicle comprises N unmanned aerial vehicles;
defining the horizontal position of each drone in a single timeslot:
in the formula, wn(t) horizontal position of nth UAV at t time slot, (x)n(t),yn(t)) is the horizontal position coordinate of the nth drone at the tth time slot,
defining the horizontal flight speed of each drone within a single time slot:
in the formula, vn(t) represents the horizontal flight speed of the nth unmanned plane in the tth time slot, vmaxSetting the maximum horizontal flying speed which can be reached by the unmanned aerial vehicle in a single time slot in a self-defined manner;
Step 1-3, constructing a data transmission model, comprising:
defining a binary variable alphak,n(t), the variable representing the nth drone and the tth slotEstablishing a communication link between kth users; recording the binary variable as a user association variable;
for the binary variable alphak,n(t) conditional constraints are imposed by the formula:
defining an upload rate between the nth drone and the kth user in a single timeslot:
wherein R isk,n(t) represents the upload rate between the nth drone and the kth user in the tth time slot, hk,n(t) represents the channel gain between the kth user and the nth drone, with the formula:
in the formula, ρ0Channel gain, σ, in unit distance2For AWGN power, p0Transmitting power for the user;
according to a binary variable alphak,n(t) and upload Rate Rk,n(t) calculating the size of the amount of data transmitted between the drone and the user in a single time slot:
in the formula,indicates in the t-th time slotThe data volume transmitted between the n unmanned aerial vehicles and the kth user is large, and B is the channel bandwidth;
step 1-4, constructing a task queue model, specifically comprising:
(1) constructing a single time slot user side task queue set:
in the formula, Qk(t) denotes a task queue of the kth user at the tth slot, and Q is initialized when t is 0 k(t) ═ 0; task queue Q for kth user at t +1 time slotk(t +1) is:
in the formula, ak(t) represents the size of the amount of tasks received by the kth user in the tth time slot,represents the sum of the task amount transmitted to the unmanned aerial vehicle by the kth user in the t-th time slot,the size of the local task amount processed and completed by the kth user at the t-th time slot is represented by the following formula:
in the formula, ζkIndicating the number of CPU revolutions required for every 1bit task of the kth user,the CPU calculation frequency of the kth user in the t time slot is shown;
(2) constructing a task queue set at the unmanned aerial vehicle end of a single time slot:
in the formula, Mk,n(t) indicates the length of the task queue stored by the nth drone for the kth user at the tth time slot, and when t is equal to 0, M is initializedk,n(t) ═ 0; the length M of a task queue stored by the nth unmanned aerial vehicle for the kth user in the t +1 th time slotk,n(t +1) is:
wherein,indicating the size of the task volume processed by the nth drone for the kth user in the tth time slot,indicating the processing frequency allocated by the nth unmanned plane to the kth user in the tth time slot;
step 1-5, constructing an energy queue model, specifically comprising:
(1) and (3) constructing the computing energy consumption of a single time slot user side:
wherein, And expressing the calculated energy consumption of the kth user in the t time slot, wherein the formula is as follows:
wherein γ is the effective switched capacitance constant;
(2) constructing an energy queue set at the unmanned aerial vehicle end of a single time slot:
in the formula, En(t) represents the battery capacity of the nth unmanned aerial vehicle in the tth time slot, and when t is equal to 0, the battery capacity of the nth unmanned aerial vehicle is initializedn(t) ═ 0; size E of battery capacity of nth unmanned aerial vehicle in t +1 time slotn(t +1) is:
wherein,represents the solar energy absorbed by the nth drone during the t-th timeslot and is 0 when the drone is fully charged with battery;respectively represent the computational energy consumption and the flight energy consumption of the nth unmanned aerial vehicle in the tth time slot, and the expressions are respectively:
wherein, k is 0.5M δ, M is the weight of the drone, and the energy consumption sum of the single slot drone is limited as follows:
further, the step 2 of building a multi-UAV path planning problem in the whole period based on the system model specifically includes:
step 2-1, defining a time average function and giving out a limiting condition, wherein the method specifically comprises the following steps:
the sum of the energy consumption of all unmanned aerial vehicles flying in a single time slot is defined asThe time-averaged function is:
the time-averaged function defining the sum of the energy consumptions of all users is:
Defining time average functions of a task queue at a user side, a task queue at an unmanned aerial vehicle side and an energy queue as follows:
the time-averaging function above is limited as follows:
step 2-2, defining a problem optimization variable, which specifically comprises the following steps:
defining the CPU frequency F of the user to be optimizedlocal:
Defining a user associated variable A:
defining the flight path W in the whole period of the multiple unmanned planes:
step 2-3, based on step 2-1 and step 2-2, constructing a multi-unmanned aerial vehicle path planning problem in the whole period as follows:
further, in step 3, the Lyapunov queue optimization theory is used to simplify the multi-UAV path planning problem in the whole period, and an optimization problem in a single time slot is obtained, and the specific process includes:
step 3-1, defining a Lyapunov function:
step 3-2, defining a Lyapunov drift penalty function:
in the formula,VUAVand VUEDisturbance parameters which are respectively the optimal target of controlling the minimum energy consumption of the user and the unmanned aerial vehicle and account for the weight of the whole problem;
step 3-3, determining the upper bound of the Lyapunov drift penalty function by utilizing a Lyapunov queue optimization theory as follows:
therefore, the multi-unmanned aerial vehicle path planning problem in the whole period is decomposed into the optimization problem in a single time slot.
Further, the decomposing of the optimization problem in the single time slot into a user frequency optimization problem and a multi-drone path optimization and user association joint optimization problem in step 4, and solving two sub-problems specifically include:
step 4-1, decomposing the optimization problem in a single time slot into a user frequency optimization sub-problem and a combined optimization problem of multi-unmanned aerial vehicle path optimization and user association sub-problems according to a user frequency variable, a multi-unmanned aerial vehicle position variable and a user association variable;
step 4-2, solving the extreme value of the user frequency optimization subproblem by utilizing a cubic function to serve as the optimal solution;
4-3, solving a sub-problem of multi-unmanned aerial vehicle path optimization and user association, wherein the specific process comprises the following steps:
4-3-1, decomposing the sub-problem of multi-unmanned aerial vehicle path optimization and user association into a sub-problem of single-unmanned aerial vehicle path optimization and user association;
step 4-3-2, solving a sub-problem of single unmanned aerial vehicle path optimization and user association, wherein the process comprises the following steps:
step 4-3-2-1, initializing the number of iterations r to 0, and setting the initial position w of the unmanned aerial vehicle0(t);
Step 4-3-2-2, according to the position w of the unmanned aerial vehicler(t) solving the user-associated variable alpha by using a linear relaxation methodr+1(t);
Step 4-3-2-3, according to the user association variable alpha r+1(t) optimizing single drone position wr+1(t), specifically including:
(1) solving convex upper and lower bounds of uploading speed by utilizing Lipschitz continuity and Taylor expansion to optimize single unmanned aerial vehicle position wr+1(t) the problem translates into a convex problem;
(2) solving the convex problem by using a convex optimization tool;
step 4-3-2-4, updating the iteration number r ═ r +1, if r is less than r0And returning to execute the step 4-3-2-2, otherwise, stopping iteration.
Compared with the prior art, the invention has the remarkable advantages that: 1) a plurality of tasks and energy queues of a plurality of unmanned aerial vehicles are added, so that all queues of the system can quickly tend to be stable in a short time; 2) scheduling limitation conditions are added, and cooperative communication among multiple unmanned aerial vehicles is guaranteed; 3) the Lyapunov queue optimization theory and the block iteration descent algorithm are combined, so that the problem solving complexity is effectively reduced; 4) simulation results show that compared with a single unmanned aerial vehicle system, the system energy efficiency of the multi-unmanned aerial vehicle service ground user system is remarkably improved.
The present invention is described in further detail below with reference to the attached drawing figures.
Drawings
Fig. 1 is a flowchart of a multi-drone path planning method based on edge-computed dynamic task arrival in one embodiment.
Fig. 2 is a diagram of a simulation result of a path optimization algorithm of the drone system based on edge-computed dynamic task arrival in one embodiment.
FIG. 3 is a diagram illustrating simulation results of queue length variation with time for a user in an embodiment, in which (a) is a diagram illustrating simulation results of queue length variation with time for a user, and (b) is a diagram illustrating simulation results of queue length variation with time for different tasks of the user.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In one embodiment, in conjunction with fig. 1, there is provided a method for multi-drone path planning based on edge-computed dynamic task arrival, the method comprising:
step 3, simplifying the multi-unmanned aerial vehicle path planning problem in the whole period by utilizing a Lyapunov queue optimization theory, and obtaining an optimization problem in a single time slot;
and 4, sequentially further optimizing the optimization problem in each single time slot according to the time sequence: and decomposing the optimization problem in the single time slot into a user frequency optimization sub-problem and a joint optimization problem of multi-unmanned aerial vehicle path optimization and user association sub-problems, and solving the two sub-problems.
Further, in one embodiment, the establishing a system model of a ground user of the cooperative multi-drone service in step 1 specifically includes:
step 1-1, defining relevant variables of a ground user, including:
defining the number of users as K;
defining the user geographical location:
zk=(xk,yk),k∈{1,2,…K}
in the formula, zkIs the geographic location of the kth user, (x)k,yk) Geographical location coordinates for the kth user;
step 1-2, defining relevant variables of the unmanned aerial vehicle, including:
The formula represents a task cycleThe time slot comprises T time slots, and the length of each time slot is delta;
The formula represents the number set of unmanned aerial vehiclesThe unmanned aerial vehicle comprises N unmanned aerial vehicles;
defining the horizontal position of each drone in a single timeslot:
in the formula, wn(t) horizontal position of nth UAV at t time slot, (x)n(t),yn(t)) is the horizontal position coordinate of the nth drone at the tth time slot,
defining the horizontal flight speed of each drone within a single time slot:
in the formula, vn(t) represents the horizontal flight speed of the nth unmanned plane in the tth time slot, vmaxSetting the maximum horizontal flying speed which can be reached by the unmanned aerial vehicle in a single time slot in a self-defined manner;
Step 1-3, constructing a data transmission model, comprising:
defining a binary variable alphak,n(t), the variable representing establishment of a communication link between the nth drone and the kth user in the tth time slot; recording the binary variable as a user associated variable;
for the binary variable alphak,n(t) conditional constraints are imposed, using the formula:
defining an upload rate between the nth drone and the kth user in a single time slot:
wherein R isk,n(t) represents the upload rate between the nth drone and the kth user in the tth time slot, hk,n(t) represents the channel gain between the kth user and the nth drone, with the formula:
in the formula, ρ0Channel gain, σ, in unit distance2For AWGN power, p0Transmitting power for the user;
according to a binary variable alphak,n(t) and upload Rate Rk,n(t) calculating the amount of data transmitted between the drone and the user in a single time slotSize:
in the formula,the data size transmitted between the nth unmanned aerial vehicle and the kth user in the t-th time slot is represented, and B is the channel bandwidth;
step 1-4, constructing a task queue model, specifically comprising:
(1) constructing a single time slot user side task queue set:
in the formula, Qk(t) denotes a task queue of the kth user at the tth slot, and Q is initialized when t is 0 k(t) ═ 0; task queue Q for kth user at t +1 time slotk(t +1) is:
in the formula, ak(t) represents the size of the amount of tasks received by the kth user in the tth time slot,represents the sum of the task amount transmitted to the drone by the kth user at the tth time slot,the size of the local task amount processed and completed by the kth user at the t-th time slot is represented by the following formula:
in the formula, ζkIndicating the number of CPU revolutions required for every 1bit task of the kth user,the CPU calculation frequency of the kth user in the t time slot is shown;
(2) constructing a task queue set at the unmanned aerial vehicle end of a single time slot:
in the formula, Mk,n(t) indicates the length of the task queue stored by the nth drone for the kth user at the tth time slot, and when t is equal to 0, M is initializedk,n(t) ═ 0; the length M of a task queue stored by the nth unmanned aerial vehicle for the kth user in the t +1 th time slotk,n(t +1) is:
wherein,indicating the size of the task volume processed by the nth drone for the kth user in the tth time slot,indicating the processing frequency allocated by the nth unmanned plane to the kth user in the tth time slot;
step 1-5, constructing an energy queue model, specifically comprising:
(1) and (3) constructing the computing energy consumption of a single time slot user side:
wherein, The calculated energy consumption of the kth user in the t-th time slot is represented by the formula:
wherein γ is the effective switched capacitance constant;
(2) constructing an energy queue set at the unmanned aerial vehicle end of a single time slot:
in the formula, En(t) represents the size of the battery capacity of the nth unmanned aerial vehicle in the tth time slot, and when t is equal to 0, the initialization E is carried outn(t) ═ 0; size E of battery capacity of nth unmanned aerial vehicle in t +1 time slotn(t +1) is:
wherein,represents the solar energy absorbed by the nth drone during the t-th timeslot and is 0 when the drone is fully charged with battery;respectively represent the computational energy consumption and the flight energy consumption of the nth unmanned aerial vehicle in the tth time slot, and the expressions are respectively:
wherein, k is 0.5M δ, M is the weight of the drone, and the energy consumption sum of the single slot drone is limited as follows:
further, in one embodiment, the building of the multi-drone path planning problem in the whole period based on the system model in step 2 specifically includes:
step 2-1, defining a time average function and giving out a limiting condition, wherein the method specifically comprises the following steps:
the sum of the energy consumption of all unmanned aerial vehicles flying in a single time slot is defined asThe time-averaged function is:
The time-averaged function defining the sum of the energy consumptions of all users is:
defining time average functions of a task queue at a user side, a task queue at an unmanned aerial vehicle side and an energy queue as follows:
the time-averaged function above is limited as follows:
step 2-2, defining a problem optimization variable, which specifically comprises the following steps:
defining the CPU frequency F of the user to be optimizedlocal:
Defining a user associated variable A:
defining the flight path W in the whole period of the multiple unmanned planes:
step 2-3, based on step 2-1 and step 2-2, constructing a multi-unmanned aerial vehicle path planning problem in the whole period as follows:
further, in one embodiment, the step 3 simplifies the multi-drone path planning problem in the whole period by using the Lyapunov queue optimization theory, and obtains the optimization problem in a single time slot, where the specific process includes:
step 3-1, defining a Lyapunov function:
step 3-2, defining a Lyapunov drift penalty function:
in the formula,VUAVand VUEDisturbance parameters which are respectively the optimal target of controlling the minimum energy consumption of the user and the unmanned aerial vehicle and account for the weight of the whole problem;
step 3-3, determining the upper bound of the Lyapunov drift penalty function by utilizing a Lyapunov queue optimization theory as follows:
therefore, the multi-unmanned aerial vehicle path planning problem in the whole period is decomposed into the optimization problem in a single time slot.
Further, in one embodiment, the decomposing of the optimization problem in the single time slot into a user frequency optimization problem and a multi-drone path optimization and user association joint optimization problem in step 4, and solving two sub-problems specifically include:
step 4-1, decomposing an optimization problem in a single time slot into a user frequency optimization sub-problem and a combined optimization problem of multi-unmanned aerial vehicle path optimization and user association sub-problems according to a user frequency variable, a multi-unmanned aerial vehicle position variable and a user association variable;
step 4-2, solving the extreme value of the user frequency optimization subproblem by utilizing a cubic function to serve as the optimal solution;
4-3, solving a sub-problem of multi-unmanned aerial vehicle path optimization and user association, wherein the specific process comprises the following steps:
4-3-1, decomposing the sub-problem of multi-unmanned aerial vehicle path optimization and user association into a sub-problem of single-unmanned aerial vehicle path optimization and user association;
step 4-3-2, solving a sub-problem of single unmanned aerial vehicle path optimization and user association, wherein the process comprises the following steps:
step 4-3-2-1, initializing the number of iterations r to 0, and setting the initial position w of the unmanned aerial vehicle 0(t);
Step 4-3-2-2, according to the position w of the unmanned aerial vehicler(t) solving the user-associated variable alpha by using a linear relaxation methodr+1(t);
Step 4-3-2-3, according to the user association variable alphar+1(t) optimizing Single drone position wr+1(t), specifically including:
(1) solving convex upper and lower bounds of uploading rate by utilizing Lipschitz continuity and Taylor expansion, and optimizing the position w of the single unmanned aerial vehicler+1(t) the problem translates into a convex problem;
(2) solving the convex problem by using a convex optimization tool;
step 4-3-2-4, updating the iteration number r ═ r +1, if r is less than r0And returning to execute the step 4-3-2-2, otherwise, stopping iteration.
As a specific example, the invention is further explained by simulation verification, which comprises the following contents:
setting simulation conditions: the initial flight path of the drone is set to a semi-circular shape. Task arrival a per user time slotk(t) (Mbits) obedience interval [0,1 ]]And expected valueAre independently and equally distributed.
Fig. 2 is a flight path optimization diagram of the dynamic multi-drone under the condition of keeping the queue stable under the above conditions, wherein the initial points of the drones are (1000, 0) and (1000, 500), respectively, and the initial battery charge is 5000J. On the other hand, the star marks in the figure represent the horizontal positions of the users respectively, and the sampling interval of the horizontal flight path of the unmanned aerial vehicle is 50. As can be seen from fig. 2, multiple drones can adjust their flight trajectories in real time according to the state of the user task queue and in consideration of the current position of each drone to serve the user, thereby demonstrating that the present invention has good real-time dynamic performance.
Fig. 3 is a graph showing the time-dependent change in queue length of a user at the device side and the unmanned side under the above conditions. According to the graph, the task backlog change trend of the user at each device and the unmanned aerial vehicle end is increased and then stabilized at 60Mbits, and the fact that the multi-unmanned aerial vehicle path planning algorithm provided by the invention can effectively keep the task queue stable is proved.
The foregoing shows and describes the general principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (2)
1. A multi-unmanned aerial vehicle path planning method based on edge computing dynamic task arrival is characterized by comprising the following steps:
step 1, establishing a system model of a multi-unmanned aerial vehicle cooperative service ground user; the method specifically comprises the following steps:
step 1-1, defining relevant variables of a ground user, comprising:
Defining the number of users as K;
defining the user geographical location:
zk=(xk,yk),k∈{1,2,…K}
in the formula, zkIs the geographic location of the kth user, (x)k,yk) Geographical location coordinates for the kth user;
step 1-2, defining relevant variables of the unmanned aerial vehicle, including:
The formula represents a task cycleThe time slot comprises T time slots, and the length of each time slot is delta;
The formula represents the number set of unmanned aerial vehiclesThe unmanned aerial vehicle comprises N unmanned aerial vehicles;
defining the horizontal position of each drone in a single timeslot:
in the formula, wn(t) horizontal position of nth UAV at t time slot, (x)n(t),yn(t)) is the horizontal position coordinate of the nth drone at the tth time slot,
defining the horizontal flight speed of each drone within a single time slot:
in the formula, vn(t) represents the horizontal flight speed of the nth unmanned plane in the tth time slot, vmaxSetting the maximum horizontal flying speed which can be reached by the unmanned aerial vehicle in a single time slot in a self-defined manner;
step 1-3, constructing a data transmission model, comprising:
defining a binary variable alphak,n(t), the variable representing establishment of a communication link between the nth drone and the kth user in the tth time slot; recording the binary variable as a user associated variable;
For the binary variable alphak,n(t) conditional constraints are imposed by the formula:
defining an upload rate between the nth drone and the kth user in a single timeslot:
wherein R isk,n(t) represents the upload rate between the nth drone and the kth user in the tth time slot, hk,n(t) represents the channel gain between the kth user and the nth drone, with the formula:
in the formula, ρ0Channel gain, σ, in unit distance2For AWGN power, p0Transmitting power for the user;
according to a binary variable alphak,n(t) and upload Rate Rk,n(t) calculating the size of the amount of data transmitted between the drone and the user in a single time slot:
in the formula,the data size transmitted between the nth unmanned aerial vehicle and the kth user in the t-th time slot is represented, and B is the channel bandwidth;
step 1-4, constructing a task queue model, specifically comprising:
(1) constructing a single time slot user side task queue set:
in the formula, Qk(t) denotes a task queue of the kth user at the tth slot, and Q is initialized when t is 0k(t) ═ 0; task queue Q of kth user at t +1 th time slotk(t +1) is:
in the formula, ak(t) represents the size of the amount of tasks received by the kth user in the tth time slot,represents the sum of the task amount transmitted to the unmanned aerial vehicle by the kth user in the t-th time slot, Denotes the firstThe local task amount processed and completed by k users at the t-th time slot is as follows:
in the formula, ζkIndicates the number of CPU revolutions required for each calculation of 1bit of task amount by the kth user,the CPU calculation frequency of the kth user in the t time slot is shown;
(2) constructing a task queue set at the unmanned aerial vehicle end of a single time slot:
in the formula, Mk,n(t) indicates the length of the task queue stored by the nth drone for the kth user at the tth time slot, and when t is equal to 0, M is initializedk,n(t) ═ 0; the length M of a task queue stored by the nth unmanned aerial vehicle for the kth user in the t +1 th time slotk,n(t +1) is:
wherein,indicating the size of the task volume processed by the nth drone for the kth user in the tth time slot,indicating the processing frequency allocated by the nth unmanned plane to the kth user in the tth time slot;
step 1-5, constructing an energy queue model, specifically comprising:
(1) and (3) constructing the computing energy consumption of a single time slot user side:
wherein,the calculated energy consumption of the kth user in the t-th time slot is represented by the formula:
wherein γ is the effective switched capacitance constant;
(2) constructing an energy queue set at the unmanned aerial vehicle end of a single time slot:
in the formula, En(t) represents the size of the battery capacity of the nth unmanned aerial vehicle in the tth time slot, and when t is equal to 0, the initialization E is carried out n(t) ═ 0; size E of battery capacity of nth unmanned aerial vehicle in t +1 time slotn(t +1) is:
wherein,represents the solar energy absorbed by the nth drone during the t-th timeslot and is 0 when the drone is fully charged with battery;respectively representing the calculation of the nth unmanned plane in the t time slotEnergy consumption and flight energy consumption, the expression respectively is:
wherein, k is 0.5M δ, M is the weight of the drone, and the energy consumption sum of the single slot drone is limited as follows:
step 2, constructing a multi-unmanned aerial vehicle path planning problem in the whole period based on a system model; the method specifically comprises the following steps:
step 2-1, defining a time average function and giving out a limiting condition, wherein the method specifically comprises the following steps:
the sum of the energy consumption of all unmanned aerial vehicles flying in a single time slot is defined asThe time-averaged function is:
the time-averaged function defining the sum of the energy consumptions of all users is:
defining time average functions of a task queue at a user side, a task queue at an unmanned aerial vehicle side and an energy queue as follows:
the time-averaged function above is limited as follows:
step 2-2, defining a problem optimization variable, which specifically comprises the following steps:
defining the CPU frequency F of the user to be optimizedlocal:
Defining a user associated variable A:
Defining the flight path W in the whole period of the multiple unmanned planes:
step 2-3, based on step 2-1 and step 2-2, constructing a multi-unmanned aerial vehicle path planning problem in the whole period as follows:
step 3, simplifying the multi-unmanned aerial vehicle path planning problem in the whole period by utilizing a Lyapunov queue optimization theory, and obtaining an optimization problem in a single time slot; the specific process comprises the following steps:
step 3-1, defining a Lyapunov function:
step 3-2, defining a Lyapunov drift penalty function:
in the formula,VUAVand VUEDisturbance parameters which are respectively the optimal target of controlling the minimum energy consumption of the user and the unmanned aerial vehicle and account for the weight of the whole problem;
step 3-3, determining the upper bound of the Lyapunov drift penalty function by utilizing a Lyapunov queue optimization theory as follows:
therefore, the path planning problem of the multiple unmanned aerial vehicles in the whole period is decomposed into an optimization problem in a single time slot;
and 4, sequentially further optimizing the optimization problem in each single time slot according to the time sequence: and decomposing the optimization problem in the single time slot into a user frequency optimization sub-problem and a joint optimization problem of multi-unmanned aerial vehicle path optimization and user association sub-problems, and solving the two sub-problems.
2. The method for planning paths of multiple unmanned aerial vehicles based on edge-computed dynamic task arrival according to claim 1, wherein the step 4 decomposes the optimization problem in the single time slot into a user frequency optimization problem and a multi-unmanned aerial vehicle path optimization and user association joint optimization problem, and solves two sub-problems, specifically comprising:
step 4-1, decomposing an optimization problem in a single time slot into a user frequency optimization sub-problem and a combined optimization problem of multi-unmanned aerial vehicle path optimization and user association sub-problems according to a user frequency variable, a multi-unmanned aerial vehicle position variable and a user association variable;
step 4-2, solving the extreme value of the user frequency optimization subproblem by utilizing a cubic function to serve as the optimal solution;
4-3, solving a sub-problem of multi-unmanned aerial vehicle path optimization and user association, wherein the specific process comprises the following steps:
4-3-1, decomposing the sub-problem of multi-unmanned aerial vehicle path optimization and user association into a sub-problem of single-unmanned aerial vehicle path optimization and user association;
step 4-3-2, solving a sub-problem of single unmanned aerial vehicle path optimization and user association, wherein the process comprises the following steps:
step 4-3-2-1, initializing the number of iterations r to 0, and setting the initial position w of the unmanned aerial vehicle 0(t);
Step 4-3-2-2, according to the position w of the unmanned aerial vehicler(t) solving the user-associated variable alpha by using a linear relaxation methodr+1(t);
Step 4-3-2-3, according to the user association variable alphar+1(t) optimizing Single drone position wr+1(t), specifically including:
(1) solving convex upper and lower bounds of uploading rate by utilizing Lipschitz continuity and Taylor expansion, and optimizing the position w of the single unmanned aerial vehicler+1(t) the problem translates into a convex problem;
(2) solving the convex problem by using a convex optimization tool;
step 4-3-2-4, updating the iteration number r ═ r +1, if r is less than r0And returning to execute the step 4-3-2-2, otherwise, stopping iteration.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010357106.2A CN111552313B (en) | 2020-04-29 | 2020-04-29 | Multi-unmanned aerial vehicle path planning method based on edge calculation dynamic task arrival |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010357106.2A CN111552313B (en) | 2020-04-29 | 2020-04-29 | Multi-unmanned aerial vehicle path planning method based on edge calculation dynamic task arrival |
Publications (2)
Publication Number | Publication Date |
---|---|
CN111552313A CN111552313A (en) | 2020-08-18 |
CN111552313B true CN111552313B (en) | 2022-06-28 |
Family
ID=72002621
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202010357106.2A Active CN111552313B (en) | 2020-04-29 | 2020-04-29 | Multi-unmanned aerial vehicle path planning method based on edge calculation dynamic task arrival |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN111552313B (en) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112668847B (en) * | 2020-12-17 | 2023-11-24 | 国网山西省电力公司运城供电公司 | Autonomous inspection integrated management system for distribution network line unmanned aerial vehicle |
CN113242077B (en) * | 2021-03-24 | 2022-04-26 | 北京交通大学 | Method for providing communication service for ground user by using unmanned aerial vehicle cluster as aerial base station |
CN113159519B (en) * | 2021-03-25 | 2021-11-23 | 重庆大学 | City sensing transportation cooperative scheduling method for multiplexing transportation unmanned aerial vehicle |
CN113034981B (en) * | 2021-04-14 | 2022-07-08 | 北京航空航天大学 | Multi-relay unmanned aerial vehicle flight path planning method and system in uncertain channel environment and storage medium |
CN113282352B (en) * | 2021-06-02 | 2023-07-07 | 南京邮电大学 | Energy-saving unloading method based on multi-unmanned aerial vehicle cooperative auxiliary edge calculation |
CN113709883B (en) * | 2021-08-30 | 2023-12-05 | 北京邮电大学 | Dynamic resource allocation method and device under multi-unmanned aerial vehicle auxiliary industrial scene |
CN113847926B (en) * | 2021-09-18 | 2024-01-19 | 上海电机学院 | Real-time path planning method based on edge microservice collaboration |
CN113848904B (en) * | 2021-09-24 | 2023-05-16 | 安徽工程大学 | Method for optimizing task allocation of multiple mobile robots based on punishment energy consumption |
CN114020024B (en) * | 2021-11-05 | 2023-03-31 | 南京理工大学 | Unmanned aerial vehicle path planning method based on Monte Carlo tree search |
CN115052297B (en) * | 2022-06-01 | 2023-10-17 | 山东大学 | Power distribution and relay design method for land-sea communication network |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108196575A (en) * | 2018-01-05 | 2018-06-22 | 湖北工业大学 | A kind of unmanned plane task distribution and route planning method |
CN109067490A (en) * | 2018-09-29 | 2018-12-21 | 郑州航空工业管理学院 | Cellular Networks join lower multiple no-manned plane and cooperate with mobile edge calculations method for distributing system resource |
CN109922137A (en) * | 2019-01-28 | 2019-06-21 | 中国人民解放军国防科技大学 | Unmanned aerial vehicle assisted calculation migration method |
CN110166110A (en) * | 2019-05-22 | 2019-08-23 | 南京理工大学 | Unmanned plane paths planning method based on edge calculations |
CN110428115A (en) * | 2019-08-13 | 2019-11-08 | 南京理工大学 | Maximization system benefit method under dynamic environment based on deeply study |
CN110488861A (en) * | 2019-07-30 | 2019-11-22 | 北京邮电大学 | Unmanned plane track optimizing method, device and unmanned plane based on deeply study |
CN110766159A (en) * | 2019-09-29 | 2020-02-07 | 南京理工大学 | Task allocation method for multi-UAV service edge calculation based on improved genetic algorithm |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10643342B2 (en) * | 2018-02-08 | 2020-05-05 | Huawei Technologies Co., Ltd. | Group optimization depth information method and system for constructing a 3D feature map |
-
2020
- 2020-04-29 CN CN202010357106.2A patent/CN111552313B/en active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108196575A (en) * | 2018-01-05 | 2018-06-22 | 湖北工业大学 | A kind of unmanned plane task distribution and route planning method |
CN109067490A (en) * | 2018-09-29 | 2018-12-21 | 郑州航空工业管理学院 | Cellular Networks join lower multiple no-manned plane and cooperate with mobile edge calculations method for distributing system resource |
CN109922137A (en) * | 2019-01-28 | 2019-06-21 | 中国人民解放军国防科技大学 | Unmanned aerial vehicle assisted calculation migration method |
CN110166110A (en) * | 2019-05-22 | 2019-08-23 | 南京理工大学 | Unmanned plane paths planning method based on edge calculations |
CN110488861A (en) * | 2019-07-30 | 2019-11-22 | 北京邮电大学 | Unmanned plane track optimizing method, device and unmanned plane based on deeply study |
CN110428115A (en) * | 2019-08-13 | 2019-11-08 | 南京理工大学 | Maximization system benefit method under dynamic environment based on deeply study |
CN110766159A (en) * | 2019-09-29 | 2020-02-07 | 南京理工大学 | Task allocation method for multi-UAV service edge calculation based on improved genetic algorithm |
Non-Patent Citations (1)
Title |
---|
城市安防场景下基于边缘计算的三维侦测路径规划;强士卿;《工业控制计算机 》;20191230;第32卷(第12期);第15-18页 * |
Also Published As
Publication number | Publication date |
---|---|
CN111552313A (en) | 2020-08-18 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN111552313B (en) | Multi-unmanned aerial vehicle path planning method based on edge calculation dynamic task arrival | |
Zhan et al. | Completion time and energy optimization in the UAV-enabled mobile-edge computing system | |
WO2022160554A1 (en) | Design method for green data collection system of high-energy-efficiency unmanned aerial vehicle | |
You et al. | Hybrid offline-online design for UAV-enabled data harvesting in probabilistic LoS channels | |
Wang et al. | Intelligent ubiquitous network accessibility for wireless-powered MEC in UAV-assisted B5G | |
Mei et al. | Joint trajectory-resource optimization in UAV-enabled edge-cloud system with virtualized mobile clone | |
Yang et al. | Online trajectory and resource optimization for stochastic UAV-enabled MEC systems | |
CN112995913B (en) | Unmanned aerial vehicle track, user association and resource allocation joint optimization method | |
Do et al. | Deep reinforcement learning for energy-efficient federated learning in UAV-enabled wireless powered networks | |
CN110730031B (en) | Unmanned aerial vehicle track and resource allocation joint optimization method for multi-carrier communication | |
CN112532300B (en) | Trajectory optimization and resource allocation method for single unmanned aerial vehicle backscatter communication network | |
CN112911648A (en) | Air-ground combined mobile edge calculation unloading optimization method | |
CN109099918A (en) | Unmanned plane assists wireless energy transfer system and its node scheduling and paths planning method | |
Ho et al. | UAV control for wireless service provisioning in critical demand areas: A deep reinforcement learning approach | |
Lyu et al. | Computation bits maximization in UAV-enabled mobile-edge computing system | |
Guo et al. | UAV trajectory and communication co-design: Flexible path discretization and path compression | |
CN110166110A (en) | Unmanned plane paths planning method based on edge calculations | |
Yuan et al. | Harnessing UAVs for fair 5G bandwidth allocation in vehicular communication via deep reinforcement learning | |
CN116546559A (en) | Distributed multi-target space-ground combined track planning and unloading scheduling method and system | |
Zhu et al. | Mission time minimization for multi-UAV-enabled data collection with interference | |
Liu et al. | Joint stochastic computational resource and UAV trajectory for wireless-powered space-air-ground IoRT networks | |
Wang et al. | Time and energy efficient data collection via UAV | |
CN112579290B (en) | Computing task migration method of ground terminal equipment based on unmanned aerial vehicle | |
Zhou et al. | Deep reinforcement learning based uav-assisted maritime network computation offloading strategy | |
Sun et al. | Three-dimensional trajectory design for energy-efficient UAV-assisted data collection |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant |