Trajectory Planning for Communication Relay Unmanned Aerial Vehicles in Urban Dynamic Environments

  • Pawel Ladosz
  • Hyondong Oh
  • Wen-Hua Chen


This paper proposes an optimal positioning and trajectory planning algorithm for unmanned aerial vehicles (UAVs) to improve a communication quality of a team of ground mobile nodes (vehicles) in a complex urban environment. In particular, a nonlinear model predictive control (NMPC)-based approach is proposed to find an efficient trajectory for UAVs with a discrete genetic algorithm while considering the dynamic constraints of fixed-wing UAVs. The advantages of using the proposed NMPC approach and the communication performance metrics are investigated through a number of scenarios with different horizon steps in the NMPC framework, the number of UAVs used, heading rates and speeds.


Airborne communication relay Genetic algorithm Kinematic constraints Nonlinear model predictive control Unmanned aerial vehicles Urban environment 


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© Springer Science+Business Media Dordrecht 2017

Authors and Affiliations

  1. 1.Department of Aeronautical and Automotive EngineeringLoughborough UniversityLoughboroughUK
  2. 2.School of Mechanical and Nuclear EngineeringUlsan National Institute of Science Technology (UNIST)UlsanRepublic of Korea

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