Joint Optimization of Service Fairness and Energy Consumption for 3D Trajectory Planning in Multiple Solar-Powered UAV Systems

Abstract

In this paper, we study the three-dimensional (3D) trajectory optimization problems of unmanned aerial vehicles (UAV) with a solar energy supply, aiming to provide communication coverage for mobile users on the ground. In general, the higher UAVs fly, the more solar energy they collect, but the smaller the range of coverage they could achieve, and vice versa. How to plan optimal trajectories for UAVs so that more users can be encompassed, while allowing UAVs to collect enough solar energy, is a challenging issue. Moreover, we also consider how geographically fair coverage for each ground user can be achieved. To solve these problems, we designed a multiple solar-powered UAV (SP-UAV) energy consumption model and a fairness model, while designed an observation space, state space, action space, and reward function. Then, we proposed a multiple SP-UAV 3D trajectory optimization algorithm based on deep reinforcement learning (DRL). Our algorithm is able to balance the energy consumption of UAVs to extend the system’s lifetime, while avoiding both collisions and flying out of communication range. Finally, we trained our model through simulation experiments and conducted comparative experiments and analysis based on real network topology data. The results show that our algorithm is superior to the existing typical algorithms in coverage, fairness, and lifetime.