多无人机辅助移动边缘计算系统能量有效的轨迹规划

黄佩秋; 王勇; 王可之

doi:10.1631/FITEE.2000315

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多无人机辅助移动边缘计算系统能量有效的轨迹规划

多无人机系统协作专题 | Updated：2022-05-19

- 多无人机辅助移动边缘计算系统能量有效的轨迹规划
- Energy-efficient trajectory planning for a multi-UAV-assisted mobile edge computing system
- 信息与电子工程前沿（英文） 2020年21卷第12期页码：1713-1725
- Affiliations：
  
  School of Automation, Central South University, Changsha 410083, China
  Department of Computer and Information Sciences, Northumbria University, Newcastle NE1 8ST, UK
- Author bio：
  
  [ "HUANG Pei-qiu, E-mail: pqhuang@csu.edu.cn" ]
  WANG Yong, E-mail: ywang@csu.edu.cn
  [ "WANG Ke-zhi, E-mail: kezhi.wang@northumbria.ac.uk" ]
- Funds：
  
  Project supported by the National Natural Science Foundation of China (Nos. 61673397 and 61976225) and the Fundamental Research Funds for the Central Universities of Central South University, China (No. 2020zzts129)
- DOI：10.1631/FITEE.2000315
  中图分类号： TN929.5;TP301.6
- 收稿：2020-07-02，
  
  修回：2020-10-29，
  
  纸质出版：2020-12
- Accepted：
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黄佩秋, 王勇, 王可之. 多无人机辅助移动边缘计算系统能量有效的轨迹规划[J]. 信息与电子工程前沿（英文）, 2020,21(12):1713-1725.

Pei-qiu HUANG, Yong WANG, Ke-zhi WANG. Energy-efficient trajectory planning for a multi-UAV-assisted mobile edge computing system[J]. Frontiers of Information Technology & Electronic Engineering, 2020, 21(12): 1713-1725.
黄佩秋, 王勇, 王可之. 多无人机辅助移动边缘计算系统能量有效的轨迹规划[J]. 信息与电子工程前沿（英文）, 2020,21(12):1713-1725. DOI： 10.1631/FITEE.2000315.

Pei-qiu HUANG, Yong WANG, Ke-zhi WANG. Energy-efficient trajectory planning for a multi-UAV-assisted mobile edge computing system[J]. Frontiers of Information Technology & Electronic Engineering, 2020, 21(12): 1713-1725. DOI： 10.1631/FITEE.2000315.

摘要

本文研究多无人机辅助移动边缘计算系统，该系统中无人机可作为边缘服务器为物联网设备提供计算服务。本文目标是通过规划无人机轨迹将系统能耗最小化。规划无人机轨迹不仅要考虑停靠点的访问顺序，还要考虑停靠点的布局（包括其数量和位置）以及无人机与停靠点的关联。为解决该问题，提出一个3阶段的能量有效轨迹规划算法。第一阶段采用种群大小可变的差分进化算法，同时更新停靠点的数量和位置。第二阶段采用

均值聚类算法将给定停靠点聚类为一系列子组，其中子组数目等于无人机数目，且每个子组中包含一个无人机需要访问的所有停靠点。第三阶段提出一种低复杂度的贪婪方法用于快速获取每个子组中停靠点的访问顺序。最后，在一组不同规模的实例上验证所提出算法的有效性。

Abstract

We study a mobile edge computing system assisted by multiple unmanned aerial vehicles (UAVs)

where the UAVs act as edge servers to provide computing services for Internet of Things devices. Our goal is to minimize the energy consumption of this system by planning the trajectories of UAVs. This problem is difficult to address because when planning the trajectories

we need to consider not only the order of stop points (SPs)

but also their deployment (including the number and locations) and the association between UAVs and SPs. To tackle this problem

we present an energy-efficient trajectory planning algorithm (TPA) which comprises three phases. In the first phase

a differential evolution algorithm with a variable population size is adopted to update the number and locations of SPs at the same time. In the second phase

the

-means clustering algorithm is employed to group the given SPs into a set of clusters

where the number of clusters is equal to that of UAVs and each cluster contains all SPs visited by the same UAV. In the third phase

to quickly generate the trajectories of UAVs

we propose a low-complexity greedy method to construct the order of SPs in each cluster. Compared with other algorithms

the effectiveness of TPA is verified on a set of instances at different scales.

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