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UAV Position Optimization for Wireless Communications.
| 题名： | UAV Position Optimization for Wireless Communications. |
| 作者： | Keegan, B. P. |
| 关键词： | Altitude, Autonomous underwater vehicles, Aircrafts, Collision avoidance, Experimental data, Robotics, Mobile communications, Multiple input multiple output, Navigation, Wireless networks, Wireless sensor networks, Autonomous systems, Communication systems, Computers, Motion planning, Control systems, Mesh networks, Mobile phones, Unmanned aerial vehicles, Wireless communications |
| 摘要： | This thesis explores autonomously positioning unmanned aerial vehicles (UAV) as wireless nodes in optimal locations to form robust, reliable communication links between static or slow-moving nodes, on land or at sea, in a wireless network. The presented approach explicitly accounts for variability associated with signal-to-noise ratio (SNR) estimates used for UAV navigation. A two-phased approach is presented to find a local SNR extremum as an optimal loitering point. This thesis focuses on phase one consisting of Kriging and semivariogram analysis as well as information theoretic local path planning. Kullback-Leiblerdivergence is used for path evaluation and selection. Phase two consists of an extremum control methoddeveloped in prior work for UAV navigation to the optimal loitering point. Emphasis is placed on accuracy and reducing model uncertainty. Simulated and experimental data is presented and used for Kriging of theSNR field produced by two ground nodes. Datasets produced with varying distances, altitudes, and flightpatterns provide insight into the behavior of SNR degradation and flight trajectories that are most efficient atreducing estimate uncertainty. Analysis provides a greater understanding of the current capabilities, benefits,and limitations of employing UAVs as autonomous, mobile communication nodes. This includes thepotential for implementing nonlinear optimal estimation and path planning processes onboard small UAVsin real time. |
| 报告类型： | 科技报告 |
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