Optimum Trajectory Planning for Multi-Rotor UAV Relays with Tilt and Antenna Orientation Variations

Abstract

Multi-rotor Unmanned Aerial Vehicles (UAVs) need to tilt in order to move; this modifies the UAV's antenna orientation. We consider the scenario where a multi-rotor UAV serves as a communication relay between a Base Station (BS) and another UAV. We propose a framework to generate feasible trajectories for the multi-rotor UAV relay while considering its motion dynamics and the motion-induced changes of the antenna orientation. The UAV relay's trajectory is optimized to maximize the end-to-end number of bits transmitted. Numerical simulations in MATLAB and Gazebo show the benefits of accounting for the antenna orientation variations due to the UAV tilt.

5 pages, 7 figures, conference

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• A Survey on Cellular-connected UAVs: Design Challenges, Enabling 5G/B5G Innovations, and Experimental Advancements
• Power Line Inspection Tasks with Multi-Aerial Robot Systems via Signal Temporal Logic Specifications

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