Fuzzy Logic-Based Approach for Battery Constrained UAV Data Collection in Robotic Wireless Sensor Networks

Unmanned Aerial Vehicles (UAVs) are increasingly used as mobile data collectors in robotic wireless sensor networks due to their flexibility and energy efficiency. However, limited onboard battery capacity poses a significant challenge for determining which cluster head (CH) robots should be visited and in what order. In this paper, we propose a fuzzy logic-based decision mechanism that enables a UAV to select CHs dynamically by jointly considering the remaining battery level, distance, return feasibility, and data freshness. The proposed approach performs step-by-step decision making without requiring global path optimization. Simulation results show that the UAV visiting behavior adapts significantly to different battery levels, prioritizing data freshness when sufficient energy is available and feasibility constraints when the battery becomes limited.