Energy and Service-Priority aware Trajectory Design for UAV-BSs using Double Q-Learning

Next generation mobile networks have proposed the integration of Unmanned Aerial Vehicles (UAVs) as aerial base stations (UAV-BS) to serve ground nodes. Despite the advantages of UAV-BSs, their dependence on the on-board, limited-capacity battery hinders their service continuity. Shorter trajectories can save flying energy, however UAV-BSs must also serve nodes based on their service priority since nodes' service requirements are not always the same. In this paper, we present an energy-efficient trajectory optimization for a UAV assisted IoT system in which the UAV-BS considers the IoT nodes' service priorities in making its movement decisions. We solve the trajectory optimization problem using Double Q- Learning algorithm. Simulation results reveal that the Q-Learning based optimized trajectory outperforms a benchmark algorithm, namely Greedily served algorithm, in terms of reducing the average energy consumption of the UAV-BS as well as the service delay for high priority nodes.