移动物联网非完整约束中继的协同任务规划

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.

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

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.