臺灣博碩士論文加值系統

為了解決因災難發生後導致通訊的基礎設施被破壞無法繼續運作，本論文利用多軸無人機在空中不受建築物或是障礙物導致通訊遮蔽以及可在空中盤旋的優勢，派遣多台無人機至災難事件發生地點作為中繼節點，進一步形成無人機網路，恢復災難地區的通訊。由於一個災難事件範圍廣泛，可能同時需要多台無人機且無人機的電量資源有限，因此必須透過有效的無人機派遣與換手方式使整個事件的無人機鏈結通訊時間盡可能的最大化。本論文將利用行動地面控制站將多台無人機載運至災難地區附近，接著行動地面控制站使用本論文提出的『電力感知多台無人機派遣演算法』計算，考慮無人機飛行與通訊的電量消耗、所有無人機的充電與使用狀態與整個事件的無人機數量需求，同時派遣多台無人機到災難現場建立無人機網路，串連災難現場附近原有的基礎設施網路後形成兩層式的網路，解決通訊中斷的問題。此外為了達成事件鏈結通訊時間最大化的目的，本論文進一步提出『多台無人機換手策略與例外處理』，替換電力耗盡的無人機。

For handling the broken-down communication infrastructure when a disaster event happens, this thesis proposes to dispatch the unmanned aerial vehicle (UAV) to the disaster area as the relay node, which further forms a Flying Ad hoc Network (FANET). Because the UAV only owns limited energy and a disaster event may need multiple UAVs to cover its area, an efficient multi-UAV dispatch algorithm is critical to recover the communication link of the disaster area. In this thesis, we adopt the mobile ground control station (GCS) to transport UAVs to the boundary of the disaster area first. According to the UAV energy consumption rate during fly and two communication modes, the UAV charging progress and the number of required UAVs of the event, the mobile GCS then executes the proposed Energy-Aware Multi-UAV Dispatch algorithm (EAMUD) to dispatch multiple UAVs to this disaster area for building the FANET. Hence, the broken-down link in the disaster area is recovered after the FANET connects to nearby network infrastructure. Finally, we propose the multi-UAV handoff scheme and exception handling processes to replace energy-exhausted UAVs for maximizing the link communication time of the disaster event.

中文摘要.................................................................I
英文摘要................................................................II
誌謝...................................................................III
目錄....................................................................IV
圖目錄...................................................................V
表目錄.................................................................VII
第一章 緒論.............................................................1
1.1 研究背景與動機.......................................................1
第二章 文獻探討.........................................................7
2.1 UAV通訊及飛行功率計算............................................7
2.2 UAV派遣及換手方法 ........................................10
第三章 災難時最大化鏈結通訊時間的電力感知多台無人機派遣與換手演算法....17
3.1網路環境及UAV功能介紹................................................18
3.2 UAV電池電量計算公式................................................20
3.3 GCS的Event Queue及UAV Pool結構 ................................25
3.4 EAUD UAV派遣與換手演算法及兩種例外處理機制..........................29
3.4.1 兩種例外處理......................................................44
3.5同時考慮同一事件所有子事件的電量感知多台UAV派遣與換手演算法EAMUD.....47
3.6 線性規劃限制式......................................................63
第四章 實驗效能及分析..................................................65
4.1 實驗環境介紹........................................................65
4.2 比較之派遣演算法、實驗變數與效能項目................................66
4.3 事件已知線性最佳解的模擬數據比較....................................68
4.3.1 UAV數量對各種metric之影響........................................69
4.3.2 事件數量比例對各種metric之影響...................................70
4.3.3 電池容量對各種metric之影響.......................................72
4.3.4 充電速度對各種metric之影響.......................................73
4.4 即時事件的UAV派遣模擬數據比較.......................................74
4.4.1 UAV派遣門檻值對各種metric之影響..................................75
4.4.2 UAV數量對各種metric之影響........................................81
4.4.3 事件數量比例對各種metric之影響...................................86
4.4.4 電池容量對各種metric之影響.......................................89
4.4.5 充電速度對各種metric之影響.......................................94
4.5 實驗討論............................................................98
第五章 結論............................................................99
參考文獻...............................................................101

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