Completion time minimization for UAV enabled data collection with communication link constrained

This paper studies unmanned aerial vehicles (UAV) enabled industrial Internet of Things while a UAV dispatched to collect data low-power ground sensor nodes (SNs) in multi-obstacle environment. The authors aim minimize the completion time satisfying communication link constraints each SN and obstacle avoidance, collection requirements etc. To this end, first formulate minimization problem by jointly optimizing trajectory sequence SNs. is difficult be optimally solved, as it non-convex. tackle problem, transform original Traveling Salesman Problem-like (TSP-like) based on hover point that can naturally satisfy collection. dynamic programming (DP) algorithm figure out order which collects SN, gives initial path traversing from beginning end point. Next, consider general scenarios tasks where also communicates flying. construct an equivalent with integer variable for indicative function constraints. rewrite non-convex equal introducing slack variables leveraging SCA, add discrete region threat traditional discretization method. Finally, simulation results verify effectiveness proposed under different parameter configurations.