Farklı Topoloji̇ler Altında Robotik Kablosuz Sensör Ağlarında Sınırlı Kapasi̇teli̇ Bataryalı bir İHA Aracılığıyla Veri̇mli̇li̇k ve Enerji Farkında Veri Toplama

Yıl 2025, Cilt: 15 Sayı: 3, 55 - 67, 29.09.2025

Ömer Melih Gül , Aydan M. Erkmen

Öz

Enerji farkında veri toplama, robotik ve kablosuz sensör ağları için büyük önem taşır. Statik havuz destekli küme tabanlı protokoller enerji açısından verimli çözümler sunsa da, insansız hava aracı (İHA) destekli yaklaşımlar, statik havuzlara kıyasla veri toplama sırasında enerji tüketimini azaltmak için daha iyi alternatifler olarak düşünülebilir. Mevcut İHA odaklı çözümlerin çoğu, pratik bir şekilde dikkate alınması gereken İHA'nın pil kapasitesi üzerinde bir sınır dikkate almamıştır. Bu makale, robot ağı kümelerinde enerji farkında veri toplamayı incelemektedir. Her kümede, bir küme başı (KB) robotu, her küme üyesi (KÜ) robotuna bir işbirlikçi görev atar ve KÜ'lerden veri toplarken, bir İHA, pil sınırlaması nedeniyle KB robotlarının bir alt kümesini ziyaret ederek onlardan veri toplar. Son durumu tamamlamak için, İHA'nın KB alt kümesini ziyaret etme kararı, artık pil kapasitesi ve tüm KB robotlarının konumları ve veri kaliteleri dahil olmak üzere birden fazla faktörle sınırlıdır. Ziyaret edilmeyen KB robotları, veri iletimi için röle düğümleri olarak KB robotlarını kullanır. Bunu takiben, bu makale, veri atlama kısıtlamaları altındaki problemi ele alarak, farklı topolojilerde ve farklı sayıda KB robotu ile bir hassasiyet analizi de sunmaktadır. Simülasyonlar, önerilen politikanın sıfır toplam ortak maliyete ulaştığını, en son yaklaşımların ise önemli ölçüde yüksek toplam ortak maliyetlere yol açtığını göstermektedir. Dahası, önerilen politika, toplam ortak maliyeti geleneksel yaklaşımlara kıyasla %50'ye kadar azaltmaktadır.

Anahtar Kelimeler

insansız hava aracı , yol planlama , kablosuz sensör ağı

Efficiency and Energy-Aware Data Collection via a UAV with Limited Capacity Battery in Robotic Wireless Sensor Network under Various Topologies

Öz

Energy-aware data collection is of paramount importance for robotic and wireless sensor networks. Although static sink-aided cluster-based protocols provide energy-efficient solutions, unmanned aerial vehicle (UAV)-aided approaches can be considered as better alternatives to reduce energy consumption while data acquisition compared with static sinks. Most of the existing UAV-driven solutions have not considered a limit on the battery capacity of the UAV, which needs to be considered in a practical manner. This article investigates energy-aware data collection in robot network clusters. In each cluster, a cluster head (CH) robot allocates one collaborative task to each cluster member (CM) robot and collects data from CMs whereas a UAV collects data from CH robots by visiting a subset of them due to its battery limitation. To complement the state-of-theart, UAV decision for visiting the subset of CHs is constrained to multiple factors including residual battery capacity, as well as locations and data qualities of all CH robots. Nonvisited CH robots use CH robots as relay nodes for data forwarding. Following upon this, by considering the problem under data hopping constraints, this article also presents a sensitivity analysis under different topologies with various number of CH robots. Simulations show that the proposed policy achieves zero total joint cost whereas the state-of-the-art approaches result in significantly high total joint costs. Furthermore, the proposed policy reduces the total joint cost by up to 50% with respect to the conventional approaches.

Anahtar Kelimeler

unmanned aerial vehicle , path planning , wireless sensor networks

Kaynakça

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