Research On Connectivity Of UAV Ad-hoc Network Based On Biological Swarm Mobile Model

UAV swarm has the advantages of robustness to destruction and strong execution,which has attracted the attention of the militaries all over the world.Scholars have studied various aspects of UAV swarm,such as UAV swarm formation,UAV swarm flight path planning and UAV swarm warfare.Because UAV swarm formation and UAV swarm warfare are similar to biological swarm movement in many aspects,scholars point out from the theoretical perspective that we can apply the principle of biological swarm movement to UAV swarm.However,most of the current researches focus on establishing mathematical or kinetic models,and few studies apply the theory of biological swarm movement to practice.Inspired by the movement of biological swarms,the swarm mobility model is innovatively applied to UAV Ad-hoc network in this paper.Firstly,we implemented Boids,Couzin and Vicsek swarm mobility models on network simulation platform NS3,and explored the effect of UAV swarm mobility.The simulation results show that these three models can achieve the swarm movement effect in the completely distributed state.By adjusting the parameters to the appropriate value,we can make the cluster achieve four different cluster movement effects,namely clustering,swarm,translation and group travel,so that the cluster can switch among different cluster states.What's more,the connectivity of UAV cluster network is analyzed from the perspective of communication,and the influence of model parameters,speed and density on the network connectivity is studied.Then,we explored the influence of the cluster mobility model on the communication performance of the network by comparing those with the classical Gauss-Markov model.We draw the conclusion that the cluster mobility model is suitable for the UAV Ad-hoc network.Finally,we completed the visualization of the drone cluster flight on Gazebo.The research work in this paper makes further exploration for the practical application of biological swarm mobility model in UAV cluster network.