海上无人集群联合轨迹设计方法

Considering an ocean data collection scenario, to improve data collection efficiency, this paper proposes a joint data collection approach for UAVs and platform. The platform releases UAVs to collect the data and sails to the designated places to recover them, while the UAVs are responsible for the data collection task. To minimize the overall working time of the UAVs and the platform, this paper introduces the Successive-Hover-and-Fly (SHF) structure to achieve a low-complexity joint trajectory optimization on basis of task allocation of the UAV cluster. The formulated problem is difficult to be solved due to the non-convexity, which is constrained by the demanded upload data amount and a maximum UAV speed. To address this problem, an efficient successive convex approximation technique iterative algorithm is proposed to obtain a sub-optimal solution, which is validated by simulation.