移动物联网非完整约束中继的协同任务规划

doi:10.3969/j.issn.0372-2112.2019.06.010

电子学报 ›› 2019, Vol. 47 ›› Issue (6): 1251-1259.DOI: 10.3969/j.issn.0372-2112.2019.06.010

移动物联网非完整约束中继的协同任务规划

王巍^1,2,3, 彭力³, 赵继军^1,2, 常存喜⁴, 黄晓丹¹, 田立勤⁵

1. 河北工程大学信息与电气工程学院, 河北邯郸 056038;
2. 河北省安防信息感知与处理重点实验室, 河北邯郸 056038;
3. 江南大学物联网工程学院, 江苏无锡 214122;
4. 中国民用航空局第二研究所, 四川成都 610041;
5. 华北科技学院河北省物联网数据采集与处理工程技术研究中心, 河北廊坊 065201

收稿日期:2017-09-20 修回日期:2018-12-04 出版日期:2019-06-25
- 作者简介:
- 王巍男,1983年11月出生,河北邯郸人,副教授,硕士生导师.主要从事公共安全物联网、隐式人机交互方面的研究工作.E-mail:wangwei83@hebeu.edu.cn;彭力男,1967年3月出生,河北唐山人,教授,博士生导师.主要从事视觉物联网的相关研究.E-mail:pengli@jiangnan.edu.cn;赵继军 男,1970年9月出生,河北邯郸人,教授,硕士生导师.主要从事宽带通信网、传感网与物联网等方面的研究工作.E-mail:zhaojijun@hebeu.edu.cn
- 基金资助:
- 国家重点研发计划 (No.2018YFF0301004）; 国家自然科学基金 (No.61802107）; 教育部-中国移动科研基金 (No.MCM20170204）; 河北省自然科学基金 (No.F2015402108）; 河北省物联网数据采集与处理工程技术研究中心开放课题 (No.2016-2）; 江苏省博士后科研资助计划项目 (No.1601085C）

Cooperative Task Planning of Ground Relay with Nonholonomic Constraints in Mobile Internet of Things Based on UAVs

WANG Wei^1,2,3, PENG Li³, ZHAO Ji-jun^1,2, CHANG Cun-xi⁴, HUANG Xiao-dan¹, TIAN Li-qin⁵

1. School of information & Electrical Engineering, Hebei University of Engineering, Handan, Hebei 056038, China;
2. Hebei Key Laboratory of Security & Protection Information Sensing and Processing, Handan, Hebei 056038, China;
3. School of Internet of Things Engineering, Jiangnan University, Wuxi, Jiangsu 214122, China;
4. The Second Research Institute of CAAC, Chengdu, Sichuan 610041, China;
5. Hebei Engineering Technology Research Center for IoT Data Acquisition & Processing, North China Institute of Science and Technology, Langfang, Hebei 065201, China

Received:2017-09-20 Revised:2018-12-04 Online:2019-06-25 Published:2019-06-25
- Supported by:
- National Key Research and Development Program of China (No.2018YFF0301004); National Natural Science Foundation of China (No.61802107); Ministry of Education - China Mobile Research Fund (No.MCM20170204); Natural Science Foundation of Hebei Province, China (No.F2015402108); Open Project of Engineering Technology Research Center of Internet of Things Data Acquisition and Processing of Hebei Province (No.2016-2); Funded by Postgraduate Science Research Program of Jiangsu Province (No.1601085C)

摘要/Abstract

摘要： 为实现突发事件的应急决策和态势评估，满足对重点区域的地面全景或空间立体信息可靠节能地远距离传输要求，本文将无人机（Unmanned Aerial Vehicle，UAV）作为空基感测平台，研究应急移动物联网应用中无人机编队能量受限条件下的远距离通信问题，提出面向非完整约束多地面移动中继的协同任务规划方法.首先，对该类物联网进行系统建模；其次，根据所建模型中无人机空基平台立体地分布于重点空域的特点，研究了地面移动中继区域分配算法、位置更新算法.在提供可靠节能通信的同时，确定其覆盖范围和最优布署方案.再次，针对地面移动中继非完整约束导致的对UAV空基平台分簇覆盖的拓展性不足，研究了多个地面移动中继的联合运动策略，以应对部分地面移动中继失效或因降低移动物联网的成本而出现地面移动中继数量减少的状况.最后，通过实验验证了本文所提方法的有效性.

关键词: 应急移动物联网, 地面移动中继, 无人机, 地空协同

Abstract: In order to realize emergency decision-making and situation assessment,and to satisfy the requirement of reliable and energy-saving long-distance transmission of panoramic or spatial stereoscopic information in key areas,this paper takes UAV as space-based sensing platform to study the long-distance communication of UAV formation under energy-constrained conditions in emergency mobile Internet of Things applications.A cooperative task planning method for nonholonomic constrained ground mobile relays is analyzed.For this emergent mobile Internet of Things,first,its model is derived.Second,according to UAV air base platform scattering in the key airspace,area-division algorithm and location update algorithm for ground mobile relays are studied.The algorithms ensure a reliable and energy-efficient communication by deciding the ground mobile relay coverage area and optimal deployment scheme.Third,joint motion strategy for multiple ground mobile relays is researched to improve the expansibility of ground mobile relays for covering the UAV clusters,which is causing by nonholonomic constraints.It is useful to deal with the ground mobile relays failure or costs reduce.Finally,the effectiveness of the proposed method is verified through experiments.

Key words: emergency mobile internet of things (EMIoT), ground mobile relay (GMR), UAV, air-ground coordination

中图分类号:

TP393

王巍, 彭力, 赵继军, 等. 移动物联网非完整约束中继的协同任务规划[J]. 电子学报, 2019, 47(6): 1251-1259.

WANG Wei, PENG Li, ZHAO Ji-jun, et al. Cooperative Task Planning of Ground Relay with Nonholonomic Constraints in Mobile Internet of Things Based on UAVs[J]. Acta Electronica Sinica, 2019, 47(6): 1251-1259.

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移动物联网非完整约束中继的协同任务规划

Cooperative Task Planning of Ground Relay with Nonholonomic Constraints in Mobile Internet of Things Based on UAVs

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