多无人机辅助数据收集系统的智能路径规划算法

苏天赐; 何梓楠; 崔苗; 张广驰

doi:10.12052/gdutxb.220090

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多无人机辅助数据收集系统的智能路径规划算法

计算机科学与技术 | 更新时间：2026-05-27

- 多无人机辅助数据收集系统的智能路径规划算法
- Intelligent Path Planning Algorithm for Multi-UAV-assisted Data Collection Systems
- 广东工业大学学报 2023年40卷第4期页码：77-84
- 作者机构：
  
  广东工业大学信息工程学院,广东,广州,510006
- 作者简介：
  
  苏天赐(1998–)，男，硕士研究生，主要研究方向为无人机辅助无线通信和深度强化学习等
  张广驰(1982–)，男，教授，主要研究方向为新一代无线通信技术，E-mail: gczhang@gdut.edu.cn
- 基金信息：
  
  广东省科技计划项目(2022A0505050023，2022A0505020008);广东省海洋经济发展项目(粤自然资合[2023]24号);广东省特支计划项目(2019TQ05X409);江西省军民融合北斗通航重点实验室开放基金项目(2022JXRH0004)
- DOI：10.12052/gdutxb.220090
  中图分类号： TN929.5
- 网络首发：2023-07-25，
  
  纸质出版：2023
- 稿件说明：
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苏天赐, 何梓楠, 崔苗, 张广驰. 多无人机辅助数据收集系统的智能路径规划算法[J]. 广东工业大学学报, 2023, 40(4): 77-84.

Su Tian-ci, He Zi-nan, Cui Miao, et al. Intelligent Path Planning Algorithm for Multi-UAV-assisted Data Collection Systems[J]. 2023, 40(4): 77-84.
苏天赐, 何梓楠, 崔苗, 张广驰. 多无人机辅助数据收集系统的智能路径规划算法[J]. 广东工业大学学报, 2023, 40(4): 77-84. DOI： 10.12052/gdutxb.220090.

Su Tian-ci, He Zi-nan, Cui Miao, et al. Intelligent Path Planning Algorithm for Multi-UAV-assisted Data Collection Systems[J]. 2023, 40(4): 77-84. DOI： 10.12052/gdutxb.220090.

摘要

无人机具有高度灵活和小巧轻便等优点，已被广泛应用于无线传感器网络的数据收集。本文考虑一个用户随机分布且处于移动状态的无线传感器网络，研究如何规划多个无人机的飞行路径以有效收集网络用户的数据。通过优化多架无人机的飞行路径，使无人机在用户位置无法预测的动态环境中实现数据收集平均吞吐量最大化，同时系统受限于无人机最短飞行时间与范围约束、无人机起点与终点约束、通信距离约束、用户通信约束和无人机防碰撞约束。使用已有优化决策方法求解该问题的计算复杂度较高，同时难以求得全局最优解。针对这一情况，本文提出一种基于Dueling Double Deep Q-network(Dueling-DDQN) 的深度强化学习算法。该算法采用Dueling架构，增强算法的学习能力，提高训练过程的鲁棒性和收敛速度，同时结合了Double DQN (DDQN) 算法的优势，能有效避免因过大估计

$ Q $

img text_id='M1' class='formula-img' style='display:none;' src='gdgydxxb-40-4-77_M1.jpg'>

值而导致获取次优无人机轨迹策略。仿真结果表明，此算法可以高效优化无人机的飞行路径，与已有的基准算法相比，所提算法具有更佳的收敛性和鲁棒性。

Abstract

With the advantages of high flexibility and lightweight

unmanned aerial vehicles (UAVs) have been widely used in data collection of wireless sensor networks. For a multi-UAV-assisted wireless sensor network with randomly distributed and moved users

how to plan the flight paths of the UAVs to effectively collect data from the users remains a challenging prob

lem. This paper aims to maximize the average throughput of data collection in a dynamic environment where the user's location cannot be predicted by optimizing the flight path of the UAVs

which is subject to the shortest flight time and range constraints of UAVs

the constraints of UAV start and end points

the communication distance constraints

the user communication constraints

and the UAV collision avoidance constraints. The resultant problem can be solved by using existing optimization methods with high complexity

which however is difficult to obtain the globally optimal solution. To address this problem efficiently

this paper proposes a deep reinforcement learning algorithm based on Dueling Double DQN (Dueling-DDQN) . The proposed algorithm adopts the Dueling network architecture

which enhances the learning ability of the algorithm and improves the robustness and convergence speed of tracked in suboptimal solutions due to the over-estimation on the

$ Q $

img text_id='M2' class='formula-img' style='display:none;' src='gdgydxxb-40-4-77_M2.jpg'>

value. Simulation results show that the proposed algorithm can efficiently obtain the flight paths of multiple UAVs under all constraints . In particular

our proposed algorithm has encouraging convergence and stability performance in comparison with the existing benchmark algorithms.

关键词

Keywords

references

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