多無人機無線充電通訊之離線優化：飛行軌跡、節點關聯及功率控制設計

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藍順議(Shun-I Lan) 查詢紙本館藏

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通訊工程學系

論文名稱

多無人機無線充電通訊之離線優化：飛行軌跡、節點關聯及功率控制設計
(Offline Optimization for Multi-UAV Enabled Wireless Powered Communications: UAV Trajectory, User Association and Power Control Designs)

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摘要(中)

近年來無人機由於其成本低廉和功能豐富而在無線通訊和運輸系統中得到了大量的應用，藉由可控的移動性以及部屬的靈活性，讓無人機可以為佈署在複雜、危險區域的通訊節點提供服務，由於這些節點所處的位置不易抵達，以有線方式輸送能量易使線路的架設及維護困難，所以這些節點的運作勢必得依賴本身的電池作為電力來源，長期運作之下可能會導致節點出現電力不足的問題，而利用無人機的無線充電能力則可有效的解決，但無人機的飛行與充電能力受限於本身搭載電池的電力限制，因此有效地規劃無人機通訊的資源分配是一大設計挑戰。
本研究考慮多個獵能節點利用無人機下鏈無線充電來進行上鏈通訊傳輸資料至多台無人機，探討無人機功率控制策略、飛行軌跡以及無人機與節點通訊關聯，以有效管理多台無人機在通訊環境下的同頻干擾，為確保公平性，採用最大化所有節點的最小資料傳輸率作為設計目標。此聯合設計是一個高度非凸問題，並且需要完美知道未來時間的通道狀態資訊，然而這在現實環境中很難預測得知。為克服這些設計難題，本研究提出一種基於凸優化的離線方法，該方法僅利用統計平均的通道狀態資訊，通過應用交替優化和連續凸逼近將問題轉化成三個凸子問題，進而求得無人機功率控制、飛行軌跡以及無人機與節點通訊關聯的離線策略。

摘要(英)

In recent years, unmanned aerial vehicles (UAVs) have been used in a large number of wireless communication and transportation systems due to their low cost and rich functionality. The controlled mobility and flexibility of their components allow UAVs to serve communication nodes deployed in complex and hazardous areas. Since these nodes are located in inaccessible locations, the wired transmission of energy makes it difficult to set up and maintain the lines, so the operation of these nodes must rely on their own batteries as a source of power, which may lead to power shortage problems at the nodes over a long period of time, and the wireless charging capability of UAVs can effectively solve the problem. However, the flight and charging capability of UAVs are limited by the power capacity of their own batteries, so the effective planning of resource allocation for UAV communication is a major design challenge.
In this thesis, we consider multiple energy-harvested nodes to transmit data to multiple UAVs using UAV downlink wireless power transfer for uplink communication, and investigates UAV power control strategies, flight trajectories, and UAV-node communication links to effectively manage co-channel interference of multiple UAVs in the communication environment. To ensure fairness, the design objective is to maximize the worst-case node total data transfer rate. The joint design problem is highly non-convex and requires the causal (future) knowledge of the channel state information (CSI), which is difficult to predict in reality. To overcome these design challenges, this paper proposes an offline method based on convex optimization that only utilizes the average CSI and solve the problem via three convex sub-problems by applying alternating optimization and successive convex approximation (SCA) to find the offline strategy for UAV power control, flight trajectory, and UAV-node communication association.

關鍵字(中)

★ 無人機通訊
★ 無線充電通訊
★ 軌跡設計
★ 通訊關聯
★ 功率控制
★ 凸優化

關鍵字(英)

★ Unmanned aerial vehicle (UAV) communication
★ wireless powered transfer (WPT) communications
★ UAV trajectory
★ communication association
★ power control
★ convex optimization

論文目次

摘要.......................................................i
Abstract..................................................ii
致謝......................................................iv
目錄.......................................................v
圖目錄...................................................vii
表目錄....................................................ix
符號說明...................................................x
第一章緒論................................................1
1-1 研究背景與動機..........................................1
1-2 研究目的與問題..........................................3
1-3 文獻探討...............................................4
1.3.1無人機於無線通訊系統之應用..............................4
1.3.2無人機於具有無線充電功能之無線通訊系統應用...............4
1-4 論文貢獻..............................................15
第二章研究背景介紹........................................16
2-1 無人機通訊系統 (UAV Communication System)..............16
2-2 能量獵取 (Energy Harvesting)..........................18
2-3 凸優化 (Convex Optimization)..........................19
2-4 一階泰勒展開 (First Order Taylor Expansion)............20
2-5 連續凸逼近 (Successive Convex Approximation)..........21
第三章多無人機系統之多獵能節點上鏈通訊......................22
3-1 系統模型..............................................22
3-2 最佳化問題............................................26
第四章多無人機系統之多獵能節點上鏈通訊的離線凸優化設計.......28
4-1 無人機發射功率優化.....................................30
4-2 無人機飛行軌跡優化.....................................32
4-3 無人機與節點通訊關聯優化................................42
4-4 功率控制、飛行軌跡及節點關聯聯合優化演算法...............43
4-5 演算法收斂性...........................................44
第五章模擬結果............................................46
5-1 不同雜訊功率與傳輸時間分配比之比較.......................53
5-2 離線優化收斂圖.........................................55
5-3 不同環境優化比較.......................................56
5-4 不同節點數量與無人機電池容量比較........................58
5-5 不同傳輸時間分配比之無人機飛行軌跡圖.....................61
5-6 不同無人機電池容量與傳輸分配比之比較.....................64
5-7 不同無人機電池容量與最大飛行速度比較.....................65
5-8 離線聯合凸優化方法與次優化方法比較.......................67
第六章結論...............................................70
第七章附錄...............................................71
7-1附錄A..................................................71
7-2附錄B..................................................73
7-3附錄C..................................................75
7-4附錄D..................................................77
參考文獻..................................................79

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指導教授

古孟霖(Meng-Lin Ku)

審核日期

2022-8-15

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