Overlap Avoidance of Mobility Models for Multi-UAVs Reconnaissance

Abstract

As avionics technologies have advanced, it is possible to perform many aerial applications which demand cooperative work with multiple Unmanned Aerial Vehicles (UAVs). Since one of the basic applications is reconnaissance, we focus on efficient cooperative reconnaissance. While random mobility models are useful for multi-UAVs reconnaissance, they suffer from overlapped reconnaissance problem that two or more UAVs reconnoiter a region at the same time. The overlapped reconnaissance also leads to imbalanced reconnaissance in which an area scanned by one UAV may be re-visited soon by the other UAV. Thus, we provide overlap avoidance schemes for the existing reconnaissance mobility models and enhance their performance. Throughout the simulations, we evaluate the effect of applying overlap avoidance in the existing models. The simulation results show that overlapped area is reduced by up to 20 times and 90%-coverage reaching time is improved by up to 19%.