Optimal Flight Paths in Wireless Sensor Networks: Modeling, Simulation, and Flight Test
Nidal M. Jodeh, Richard G. Cobb, Riley A. Livermore · 2016
Modeling, simulation, and flight test of unmanned aircraft optimal flight paths for data collection in wireless sensor networks are presented. The continuous time optimal control problem solves for the optimal trajectory that minimizes the combined time and control effort needed to collect the required data. In this modified traveling salesman problem with neighborhoods, the control policy enables the airborne vehicle to change altitude, heading and velocity to best communicate with each ground sensor via an on-board omni-directional antenna. The optimal trajectory is solved for by direct collocation methods also known as a pseudospectral method. The optimal path is simulated in software and hardware-in-the-loop environments. Initial, proof of concept flight tests results are presented. In flight test, the optimal flight path is shown to save over 30% of flight time and distance flown when compared to a traditional waypoint to waypoint flight.