Fast Trajectory Planning for UAV-Enabled Maritime IoT Systems: A Fermat-Point Based Approach

This letter proposes a fast Unmanned Aerial Vehicle (UAV) trajectory planning algorithm based on the Fermat-point theory in maritime Internet of Things systems. Specifically, we first construct Delaunay triangles based on the deployment of unmanned surface vehicles. Then, the Fermat point of each Delaunay triangle is calculated and as a hovering point of UAVs to improve the channel condition. Finally, the trajectory planning problem can be transformed into a vehicle routing problem with pickup, which is solved by the proposed algorithm based on C-W saving method. Simulation results show the proposed algorithm can efficiently increase collected data volume of UAVs.