移动物联网非完整约束中继的协同任务规划
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摘要
为实现突发事件的应急决策和态势评估,满足对重点区域的地面全景或空间立体信息可靠节能地远距离传输要求,本文将无人机(Unmanned Aerial Vehicle,UAV)作为空基感测平台,研究应急移动物联网应用中无人机编队能量受限条件下的远距离通信问题,提出面向非完整约束多地面移动中继的协同任务规划方法.首先,对该类物联网进行系统建模;其次,根据所建模型中无人机空基平台立体地分布于重点空域的特点,研究了地面移动中继区域分配算法、位置更新算法.在提供可靠节能通信的同时,确定其覆盖范围和最优布署方案.再次,针对地面移动中继非完整约束导致的对UAV空基平台分簇覆盖的拓展性不足,研究了多个地面移动中继的联合运动策略,以应对部分地面移动中继失效或因降低移动物联网的成本而出现地面移动中继数量减少的状况.最后,通过实验验证了本文所提方法的有效性.
In order to realize emergency decision-making and situation assessment,and to satisfy the requirement of reliable and energy-saving long-distance transmission of panoramic or spatial stereoscopic information in key areas,this paper takes UAV as space-based sensing platform to study the long-distance communication of UAV formation under energy-constrained conditions in emergency mobile Internet of Things applications.A cooperative task planning method for nonholonomic constrained ground mobile relays is analyzed.For this emergent mobile Internet of Things,first,its model is derived.Second,according to UAV air base platform scattering in the key airspace,area-division algorithm and location update algorithm for ground mobile relays are studied.The algorithms ensure a reliable and energy-efficient communication by deciding the ground mobile relay coverage area and optimal deployment scheme.Third,joint motion strategy for multiple ground mobile relays is researched to improve the expansibility of ground mobile relays for covering the UAV clusters,which is causing by nonholonomic constraints.It is useful to deal with the ground mobile relays failure or costs reduce.Finally,the effectiveness of the proposed method is verified through experiments.
In order to realize emergency decision-making and situation assessment,and to satisfy the requirement of reliable and energy-saving long-distance transmission of panoramic or spatial stereoscopic information in key areas,this paper takes UAV as space-based sensing platform to study the long-distance communication of UAV formation under energy-constrained conditions in emergency mobile Internet of Things applications.A cooperative task planning method for nonholonomic constrained ground mobile relays is analyzed.For this emergent mobile Internet of Things,first,its model is derived.Second,according to UAV air base platform scattering in the key airspace,area-division algorithm and location update algorithm for ground mobile relays are studied.The algorithms ensure a reliable and energy-efficient communication by deciding the ground mobile relay coverage area and optimal deployment scheme.Third,joint motion strategy for multiple ground mobile relays is researched to improve the expansibility of ground mobile relays for covering the UAV clusters,which is causing by nonholonomic constraints.It is useful to deal with the ground mobile relays failure or costs reduce.Finally,the effectiveness of the proposed method is verified through experiments.
引文
[1] Mozaffari M,Saad W,Bennis M,et al.Mobile internet of things:can UAVs provide an energy-efficient mobile architecture[A].Preceedings of IEEE Global Communications Conference (GLOBECOM)[C].Washington,DC,USA:IEEE,2016.1-6.
[2] 黄赞杰.无线网络环境下的资源分配问题算法研究[D].合肥:中国科学技术大学,2015.Huang ZJ.Resource allocation algorithms in wireless networks[D].Hefei:University of Science and Technology of China,2015.(in Chinese)
[3] 顾磊,黄辉林,钱昕.大规模物联网中多层次立体异构网络拓扑研究[J].中兴通讯技术,2014,20(6):48-51.Gu L,Huang HL,Qian X.Large machine-to machine heterogeneous network architecture[J].ZTE Technology Journal,2014,20(6):48-51.(in Chinese)
[4] Mozaffari M,Saad W,Bennis M,et al.Unmanned aerial vehicle with underlaid device-to-device communications:performance and tradeoffs[J].IEEE Transactions on Wireless Communications,2016,15(6):3949-3963.
[5] Han Z,Swindlehurst A L,Liu K.Optimization of MANET connectivity via smart deployment/movement of unmanned air vehicles[J].IEEE Transactions on Vehicular Technology,2009,58(7):3533-3546.
[6] Mozaffair M,Saad W,Bennis M,et al.Optimal transport theory for power-efficient deployment of unmanned aerial vehicles[A].Preceedings of IEEE International Conference on Communications (ICC)[C].Kuala Lumpur,Malaysia:IEEE,2016.1-6.
[7] Pang Y,Zhang Y,Gu Y,et al.Efficient data collection for wireless rechargeable sensor clusters in harsh terrains using UAVs[A].Preceedings of IEEE Global Communications Conference (GLOBECOM)[C].Austin,TX,USA:IEEE,2014.234-239.
[8] Abuzainba N,Saad W,Poor HV.Cognitive hierarchy theory for heterogeneous uplink multiple access in the internet of things[A].Preceedings of IEEE International Symposium on Information Theory (ISIT)[C].Barcelona,Spain:IEEE,2016.1252-1256.
[9] Tu CY,Ho CY,Huang CY.Energy-efficient algorithms and evaluations for massive access management in cellular based machine to machine communications[A].Preceedings of IEEE Vehicular Technology Conference (VTC)[C].San Francisco,CA,USA:IEEE,2011.1-5.
[10] Daniel K,Wietfeld C.Using public network infrastructures for UAV remote sensing in civilian security operations[R].USA:Homeland Security Affairs,2011.
[11] Rohde S,Wietfeld C.Interference aware positioning of aerial relays for cell overload and outage compensation[A].Preceedings of IEEE Vehicular Technology Conference (VTC)[C].Quebec,QC,Canada:IEEE,2012.1-5.
[12] Jiang F,Swindlehurst AL.Optimization of UAV heading for the ground-to-air uplink[J].IEEE Journal on Selected Areas in Communications,2012,30(5):993-1005.
[13] Shalmashi S,Bjornson E,Kountouris M,et al.Energy efficiency and sum rate tradeoffs for massive MIMO systems with underlaid device-to-device communications[J].EURASIP Journal on Wireless Communications and Networking,2016,2016(1):175.
[14] Lin X,Heath R,Andrews J.The interplay between massive MIMO andunderlaid D2D networking[J].IEEE Transactions on Wireless Communications,2015,14(6):1-10.
[15] 黄辰,李可维,张伟,等.无线物联网中基于网络编码的能量受限数据传输机制[J].电子学报,2013,41(1):144-147.Huang Ch,Li KW,Zhang W,et al.Network coding based energy constrained data transmission mechanism in wireless Internet of Things[J].Acta Electronica Sinica,2013,41(1):144-147.(in Chinese)
[16] 陈珍萍,黄友锐,唐超礼,等.物联网感知层低能耗时间同步方法研究[J].电子学报,2016,44(1):193-199.Chen ZP,Huang YR,Tang CL,et al.Research on low energy consumption time synchronization method for internet of things’ perception layer[J].Acta Electronica Sinica,2016,44(1):193-199.(in Chinese)
[17] Hourani A,Kandeepan S,Jamalipour A.Modeling air-to-ground path loss for low altitude platforms in urban environments[A].Preceedings of IEEE Global Communications Conference (GLOBECOM)[C].Austin,TX,USA:IEEE,2014.2898-2904.
[18] 王小乐,刘青宝,陆昌辉,等.一种处理障碍约束的聚类算法[J].计算机应用,2009,29(2):406-409.Wang XL,Liu QB,Lu CH,et al.Clustering arithmetic with obstacle constraints[J].Journal of Computer Applications,2009,29(2):406-409.(in Chinese)
[19] 田朝薇,宋海洲.求非凸二次约束二次规划全局解的凸规划方法[J].华侨大学学报(自然科学版),2011,32(4):458-462.Tian CW,Song HZ.A convex programming method for solving the global solution of nonconvex QCQP[J].Journal of Huaqiao University (Natural Science),2011,32(4):458-462.(in Chinese)
[20] 祝小平,周洲,王怿.无人机协同路径规划[M].北京:国防工业出版社,2013.Zhu XP,Zhou Z,Wang Y.Cooperative Path Planning for UAV[M].Beijing:NationalDefence Industry Press,2013.(in Chinese)
[21] Franco CD,Buttazzo G.Energy-aware coverage path planning of UAVs[A].Preceedings of IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)[C].Vila Real,Portugal:IEEE,2015.111-117.
[22] Xia Q L.Motivations,ideas and applications of ramified optimal transportation[J].ESAIM:Mathematical Modelling and Numerical Analysis,2015,49(6):1791-1832.
[2] 黄赞杰.无线网络环境下的资源分配问题算法研究[D].合肥:中国科学技术大学,2015.Huang ZJ.Resource allocation algorithms in wireless networks[D].Hefei:University of Science and Technology of China,2015.(in Chinese)
[3] 顾磊,黄辉林,钱昕.大规模物联网中多层次立体异构网络拓扑研究[J].中兴通讯技术,2014,20(6):48-51.Gu L,Huang HL,Qian X.Large machine-to machine heterogeneous network architecture[J].ZTE Technology Journal,2014,20(6):48-51.(in Chinese)
[4] Mozaffari M,Saad W,Bennis M,et al.Unmanned aerial vehicle with underlaid device-to-device communications:performance and tradeoffs[J].IEEE Transactions on Wireless Communications,2016,15(6):3949-3963.
[5] Han Z,Swindlehurst A L,Liu K.Optimization of MANET connectivity via smart deployment/movement of unmanned air vehicles[J].IEEE Transactions on Vehicular Technology,2009,58(7):3533-3546.
[6] Mozaffair M,Saad W,Bennis M,et al.Optimal transport theory for power-efficient deployment of unmanned aerial vehicles[A].Preceedings of IEEE International Conference on Communications (ICC)[C].Kuala Lumpur,Malaysia:IEEE,2016.1-6.
[7] Pang Y,Zhang Y,Gu Y,et al.Efficient data collection for wireless rechargeable sensor clusters in harsh terrains using UAVs[A].Preceedings of IEEE Global Communications Conference (GLOBECOM)[C].Austin,TX,USA:IEEE,2014.234-239.
[8] Abuzainba N,Saad W,Poor HV.Cognitive hierarchy theory for heterogeneous uplink multiple access in the internet of things[A].Preceedings of IEEE International Symposium on Information Theory (ISIT)[C].Barcelona,Spain:IEEE,2016.1252-1256.
[9] Tu CY,Ho CY,Huang CY.Energy-efficient algorithms and evaluations for massive access management in cellular based machine to machine communications[A].Preceedings of IEEE Vehicular Technology Conference (VTC)[C].San Francisco,CA,USA:IEEE,2011.1-5.
[10] Daniel K,Wietfeld C.Using public network infrastructures for UAV remote sensing in civilian security operations[R].USA:Homeland Security Affairs,2011.
[11] Rohde S,Wietfeld C.Interference aware positioning of aerial relays for cell overload and outage compensation[A].Preceedings of IEEE Vehicular Technology Conference (VTC)[C].Quebec,QC,Canada:IEEE,2012.1-5.
[12] Jiang F,Swindlehurst AL.Optimization of UAV heading for the ground-to-air uplink[J].IEEE Journal on Selected Areas in Communications,2012,30(5):993-1005.
[13] Shalmashi S,Bjornson E,Kountouris M,et al.Energy efficiency and sum rate tradeoffs for massive MIMO systems with underlaid device-to-device communications[J].EURASIP Journal on Wireless Communications and Networking,2016,2016(1):175.
[14] Lin X,Heath R,Andrews J.The interplay between massive MIMO andunderlaid D2D networking[J].IEEE Transactions on Wireless Communications,2015,14(6):1-10.
[15] 黄辰,李可维,张伟,等.无线物联网中基于网络编码的能量受限数据传输机制[J].电子学报,2013,41(1):144-147.Huang Ch,Li KW,Zhang W,et al.Network coding based energy constrained data transmission mechanism in wireless Internet of Things[J].Acta Electronica Sinica,2013,41(1):144-147.(in Chinese)
[16] 陈珍萍,黄友锐,唐超礼,等.物联网感知层低能耗时间同步方法研究[J].电子学报,2016,44(1):193-199.Chen ZP,Huang YR,Tang CL,et al.Research on low energy consumption time synchronization method for internet of things’ perception layer[J].Acta Electronica Sinica,2016,44(1):193-199.(in Chinese)
[17] Hourani A,Kandeepan S,Jamalipour A.Modeling air-to-ground path loss for low altitude platforms in urban environments[A].Preceedings of IEEE Global Communications Conference (GLOBECOM)[C].Austin,TX,USA:IEEE,2014.2898-2904.
[18] 王小乐,刘青宝,陆昌辉,等.一种处理障碍约束的聚类算法[J].计算机应用,2009,29(2):406-409.Wang XL,Liu QB,Lu CH,et al.Clustering arithmetic with obstacle constraints[J].Journal of Computer Applications,2009,29(2):406-409.(in Chinese)
[19] 田朝薇,宋海洲.求非凸二次约束二次规划全局解的凸规划方法[J].华侨大学学报(自然科学版),2011,32(4):458-462.Tian CW,Song HZ.A convex programming method for solving the global solution of nonconvex QCQP[J].Journal of Huaqiao University (Natural Science),2011,32(4):458-462.(in Chinese)
[20] 祝小平,周洲,王怿.无人机协同路径规划[M].北京:国防工业出版社,2013.Zhu XP,Zhou Z,Wang Y.Cooperative Path Planning for UAV[M].Beijing:NationalDefence Industry Press,2013.(in Chinese)
[21] Franco CD,Buttazzo G.Energy-aware coverage path planning of UAVs[A].Preceedings of IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)[C].Vila Real,Portugal:IEEE,2015.111-117.
[22] Xia Q L.Motivations,ideas and applications of ramified optimal transportation[J].ESAIM:Mathematical Modelling and Numerical Analysis,2015,49(6):1791-1832.
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