Energy-aware Trajectory Optimization for UAV-enabled wireless powered WSN

Unmanned Aerial Vehicle enabled (UAV-enabled) wireless powered Wireless Sensor Networks (WSN) provide an effective way to deploy massive and passive sensors for environmental monitoring in harsh environments. This study focuses on maximizing the total energy received by all Sensor Nodes (SNs) through the optimization of the UAV trajectory. An energy-aware smoothing trajectory method is proposed by considering the dynamic energy requirements of SNs. First, the optimization problem (P1) is formulated according to the mathematical model. Second, the B-spline method is introduced to turn the smoothing problem into a solvable problem (P2). Finally, problem (P2) is solved under the constraints to obtain the trajectory solution. Simulation results indicate the proposed method can adjust the overall trajectory according to the SNs demands. Meanwhile, according to the wake-up distance and energy-aware, the trajectory of some nodes can be locally adjusted without affecting other trajectory segments.