Joint Communication and Trajectory Optimization for Multi-UAV Enabled Mobile Internet of Vehicles

Due to its flexibility and high maneuverability, Unmanned Aerial Vehicle (UAV) is able to quickly provide wireless connections to the ground vehicles in mobile environment. In this paper, a multi-UAV enabled mobile Internet of Vehicles (IoV) model is proposed, where the UAVs track to serve the mobile vehicles and send downlink information to the vehicles during the flight time. Considering the constraints of anti-collision and communication interference between the UAVs, the system throughput is maximized by jointly optimizing vehicle communication scheduling, UAV power allocation and UAV trajectory. The formulated non-convex optimization problem is separated into three subproblems, including communication scheduling optimization, power allocation optimization and UAV trajectory optimization, which can be solved by successive convex approximation (SCA). A joint iterative optimization algorithm of the three subproblems is put forward to get the optimal solution. Then, a fairness optimization problem is proposed to guarantee the fair communications for each vehicle. The numerical results reveal the excellent performance of the multi-UAV enabled mobile IoV by joint communication and trajectory optimization.