Motion Planning in UAV-Aided Data Collection with Dynamic Jamming

Unmanned-aerial-vehicle (UAV)-aided data collection for Internet of Things applications has attracted increasing attention. This paper investigates motion planning UAV collecting low-power ground sensor node (SN) in a dynamic jamming environment. We targeted minimizing the flight energy consumption via optimization trajectory while considering indispensable constraints which cover demodulation threshold, obstacle avoidance, volume, and principle. Firstly, we formulate UAV-aided problem as an minimization problem. To solve this nonconvex problem, rewrite original by introducing relaxation variables constructing equivalence to obtain new convex can be solved iteratively using successive approximation (SCA) method. However, SCA is susceptible initial values, especially environments where fixed values may lead wide range results, making it difficult truly optimal solution value environments, further propose communication-flight-corridor(CFC)-based path generation method improve reliability convergence speed reliable communication regions resilient secure paths real time. Finally, simulation results validate performance proposed algorithm compared benchmark algorithms under different parameter configurations.