UAV 3D Mobility Model Oriented to Dynamic and Uncertain Environment

摘要

Currently, unmanned aerial vehicle (UAV) swarm has been widely used for emergency rescue in disaster areas. In dynamic and uncertain environments, the uneven distribution of events and obstacles seriously affect the efficiency of UAVs' missions and the safety of airborne operations. The traditional UAV mobility models pay more attention to the UAVs own moving rules, so as to make the UAV flight pattern meet real conditions as much as possible, while ignoring the requirements of UAVs' mission and uncertainties of environment. Based on the 3D Visit-Density Gauss-Semi-Markov Mobility (3D-VDGMM) model, this paper proposes a 3D Mobility Model oriented to Dynamic and Uncertain environment (3D-DUMM). The 3D-DUMM has made improvements to emergency rescue missions while fully considering the dynamic distributed, dense and irregular obstacles in the rescue area. Simulation experiments show that 3D-DUMM can well captured uncertain events and can safely deal with dynamic and complex rescue environments.