Modelling and simulation of a new cooperative algorithm for UAV swarm coordination in mobile RF target tracking

Abstract

Recent advancements in sensor technology have allowed unmanned aerial vehicles (UAVs) to function as sensing devices in cooperative aerial communication networks, offering novel solutions in applications of environment inspection, disaster detection and search and rescue operations. Towards this trend, the efficient deployment and coordination of UAV networks is of vital importance. Generating controlled experimental conditions to implement and evaluate different approaches in this context can be impractical and costly and thus the solution of modelling is often preferred. This paper introduces a tracking model in which multirotor UAVs, equipped with received signal strength indicator (RSSI) sensors, are organized in a swarm and cooperate to approximate and trail a moving target. The proposed algorithm is able to offer autonomous tracking in large scale environments, by utilising just the strength of the communication signal emitted by a radio frequency transmitter carried by the target. A model of the proposed algorithm is created, and its performance is thoroughly evaluated in a specialized simulator developed in the Processing IDE. Results demonstrate the increased tracking efficiency of the proposed solution compared to a trilateration method.