Optimal Airborne Trajectories for Data Collection from Wireless Sensor Networks by Direct Collocation Methods
Nidal M. Jodeh, Richard G. Cobb, Riley A. Livermore · 2015
The optimal flight trajectory of an unmanned aerial system, collecting data from a wireless sensor network is considered. The unmanned system is tasked with collecting a minimum amount of data from each unattended and low power ground sensor in the widespread wireless sensor network. The continuous time optimal control problem solves for the optimal trajectory that minimizes the 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 a direct collocation methods also known as a pseudospectral method. The optimal path is simulated in a software-in-the-loop environment and results in a 14% decrease in flight time when compared to a traditional path planning technique.