A 3D Smooth Mobility Model Based on Semi-random Circular Movement for FANETs

In recent years, the number of applications based on multiple unmanned aerial vehicles (UAVs) for cooperative mission execution has increased. In a search and rescue mission (SAR) scenario, the network solution based on Flying Ad Hoc Networks (FANETs) can meet the special requirements of this mission. However, due to the high cost of establishing a real experimental environment, network simulation is considered to be the most practical research method in most cases. For FANETs, modeling and simulation based on the mobility of a UAV in a specific scene have an important impact on the performance of routing protocols. Therefore, to develop an excellent FANETs routing protocol for SAR task scenarios, it is necessary to design a three-dimensional (3D) mobility model suitable for this scenario. This paper first analyzes the design requirements of FANETs 3D mobility model under the SAR task scene. According to these requirements, we proposed a 3DSRCM mobility model based on semi-random Circular Movement (SRCM). Based on the helix and pheromone, we design the track with its selection and switching mechanism for the model. Subsequently, we tested the relevant performance of the model according to the design requirements, and the test results proved that the model could truly simulate the movement behavior of UAV in the SAR scene, with excellent coverage and smooth three-dimensional trajectory, as well as relatively good spatial node distribution and network connectivity.