UAV collaborative charging path planning based on an improved hybrid particle swarm optimization algorithm

DOI:	10.11809/bqzbgcxb2023.03.026
Keywords:	wireless rechargeable sensor network; UAV; path decomposition; task assignment; path planning
Abstract:	When a large number of sensors are distributed in the wireless rechargeable sensor networks (WRSNS), single UAV charging for the sensor network cannot meet the real time power demand of the sensor, so this paper adopts a multi UAV coordination mode to replace the single UAV mode to charge the sensor network.In the path planning of multiple UAVs, by comprehensively considering their suspension time and flight time, this paper achieves fairness through reasonable task allocation of multiple UAVs so that all the sensors have the shortest time to complete the charging task.In order to solve the problem of uneven task distribution of UAVs in general models, a path decomposition algorithm (PDA) is proposed and the improved particle swarm optimization algorithm is used to plan the path of each UAV.In the simulation experiment, combined with the improved particle swarm optimization algorithm, the path decomposition algorithm is compared with the KTSP GA algorithm and the K MEANS+LG PSO algorithm respectively.The maximum time of all UAVs to complete the task increases by 11.72% and 3091% respectively, which also realizes the average task allocation among multiple UAVs to the maximum extent.
Published:	2023-03-28
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