Path Planning and Formation Control for UAV-Enabled Mobile Edge Computing Network

Author:

Choutri Kheireddine,Lagha Mohand,Meshoul SouhamORCID,Fadloun SamihaORCID

Abstract

Recent developments in unmanned aerial vehicles (UAVs) have led to the introduction of a wide variety of innovative applications, especially in the Mobile Edge Computing (MEC) field. UAV swarms are suggested as a promising solution to cope with the issues that may arise when connecting Internet of Things (IoT) applications to a fog platform. We are interested in a crucial aspect of designing a swarm of UAVs in this work, which is the coordination of swarm agents in complicated and unknown environments. Centralized leader–follower formations are one of the most prevalent architectural designs in the literature. In the event of a failed leader, however, the entire mission is canceled. This paper proposes a framework to enable the use of UAVs under different MEC architectures, overcomes the drawbacks of centralized architectures, and improves their overall performance. The most significant contribution of this research is the combination of distributed formation control, online leader election, and collaborative obstacle avoidance. For the initial phase, the optimal path between departure and arrival points is generated, avoiding obstacles and agent collisions. Next, a quaternion-based sliding mode controller is designed for formation control and trajectory tracking. Moreover, in the event of a failed leader, the leader election phase allows agents to select the most qualified leader for the formation. Multiple possible scenarios simulating real-time applications are used to evaluate the framework. The obtained results demonstrate the capability of UAVs to adapt to different MEC architectures under different constraints. Lastly, a comparison is made with existing structures to demonstrate the effectiveness, safety, and durability of the designed framework.

Funder

Princess Nourah bint Abdulrahman University

Publisher

MDPI AG

Subject

Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry

Cited by 3 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Path Planning Techniques for Real-Time Multi-Robot Systems: A Systematic Review;Electronics;2024-06-07

2. Simulated Annealing-Deep Deterministic Policy Gradient Algorithm For Quadrotor Attitude Control;2023 Advances in Science and Engineering Technology International Conferences (ASET);2023-02-20

3. Analysis of Path Optimization Problem Based on Reinforcement Learning;Lecture Notes in Electrical Engineering;2023

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