Abstract
In this paper, the problem of trajectory design for energy harvesting unmanned aerial vehicles (UAVs) is studied. In the considered model, the UAV acts as a moving base station to serve the ground users, while collecting energy from the charging stations located at the center of a user group. Meanwhile, to serve ground users and harvest energy, the UAV must be examined and repaired regularly. In consequence, it is necessary to optimize the trajectory design of the UAV while jointly considering the maintenance costs, the number of users that are served by the UAV, and the energy consumption and harvesting. To capture the relationship among these factors, we first model the completion of service and the harvested energy as reward, and the energy consumption during the deployment as cost. Then, the deployment profitability is defined as the reward to the cost of the UAV trajectory. Based on this definition, the trajectory design problem is formulated as an optimization problem whose goal is to maximize the deployment profitability of the UAV. To solve this problem, a foraging algorithm is proposed to find the optimal trajectory so as to maximize the deployment profitability. The proposed algorithm can find the optimal trajectory for the UAV with a polynomial time complexity. Fundamental analysis shows that the proposed algorithm can achieve the maximal deployment profitability. Simulation results show that the proposed algorithm can effectively reduce the operation time and achieve up to 25.6% gain in terms of the deployment profitability compared to Q-learning algorithm.
