{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,20]],"date-time":"2026-02-20T18:57:58Z","timestamp":1771613878824,"version":"3.50.1"},"reference-count":41,"publisher":"MDPI AG","issue":"22","license":[{"start":{"date-parts":[[2022,11,11]],"date-time":"2022-11-11T00:00:00Z","timestamp":1668124800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Natural Science Foundation of Guangdong Province of China","award":["2021A1515011905"],"award-info":[{"award-number":["2021A1515011905"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Quadrotor unmanned aerial vehicles (UAVs) are widely used as flexible and mobile access points and information carriers for the future Internet of Things (IoT). This work studies a quadrotor UAV-assisted IoT network, where the UAV helps to collect sensing data from a group of IoT users. Our goal is to optimize the UAV\u2019s overall energy consumption required to complete the sensing task. Firstly, we propose a more accurate and mathematically tractable model to characterize the UAV\u2019s real-time energy consumption, which accounts for the UAV\u2019s dynamics, brushless direct current (BLDC) motor dynamics and aerodynamics. Then, we can show that the UAV\u2019s circular flight based on the proposed energy-consumption model consumes less energy than that of hover flight. Therefore, a fly\u2013circle\u2013communicate (FCC) trajectory design algorithm, adopting Dubins curves for circular flight, is proposed and derived to save energy and increase flight duration. Employing the FCC strategy, the UAV moves to each IoT user and implements a circular flight in the sequence solved by the travelling-salesman-problem (TSP) algorithm. Finally, we evaluate the efficiency of the proposed algorithm in a mobile sensing network by comparing the proposed algorithm with the conventional hover-communicate (HC) algorithm in terms of energy consumption. Numerical results show that the FCC algorithm reduces energy consumption by 1\u201310% compared to the HC algorithm, and also improves the UAV\u2019s flight duration and the sensing network\u2019s service range.<\/jats:p>","DOI":"10.3390\/s22228729","type":"journal-article","created":{"date-parts":[[2022,11,14]],"date-time":"2022-11-14T04:30:52Z","timestamp":1668400252000},"page":"8729","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["Energy-Efficient Trajectory Planning for Smart Sensing in IoT Networks Using Quadrotor UAVs"],"prefix":"10.3390","volume":"22","author":[{"given":"Guoku","family":"Jia","sequence":"first","affiliation":[{"name":"School of Intelligent Systems Engineering, Sun Yat-Sen University-Shenzhen Campus, Shenzhen 528406, China"}]},{"given":"Chengming","family":"Li","sequence":"additional","affiliation":[{"name":"School of Intelligent Systems Engineering, Sun Yat-Sen University-Shenzhen Campus, Shenzhen 528406, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3594-4808","authenticated-orcid":false,"given":"Mengtang","family":"Li","sequence":"additional","affiliation":[{"name":"School of Intelligent Systems Engineering, Sun Yat-Sen University-Shenzhen Campus, Shenzhen 528406, China"}]}],"member":"1968","published-online":{"date-parts":[[2022,11,11]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"36","DOI":"10.1109\/MCOM.2016.7470933","article-title":"Wireless communications with unmanned aerial vehicles: Opportunities and challenges","volume":"54","author":"Zeng","year":"2016","journal-title":"IEEE Commun. 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