Optimal Deployment of UAV Base Stations for Maximum Coverage of Task UAVs with Dynamical Positions

With the wide application of unmanned aerial vehicles (UAVs) in military and civil affairs, multi-UAVs cooperation has become an important solution to the increasingly complex target missions. However, it is challenging to meet the communication requirements of multi-UAV collaborative missions. Due to the advantages of UAV base stations (UAV-BSs) in flexibility, economy and universality, it shows potential prospect to utilize UAV-BSs to enhance the communication in multi-UAV collaborative missions. In this paper, a UAV-BS deployment problem is considered to provide effective communication for task UAVs (T-UAVs) for collaborative missions. With the unknown number and locations of T-UAVs, we introduce probability hypothesis density to describe the joint distribution of the locations and number of T-UAVs in a limited 3D area. Then, an optimization problem is formulated and a novel algorithm is proposed to cope with the optimal deployment of UAV-BSs. Simulation results show the effectiveness of the proposed algorithm.