【摘要】 因无人机灵活性强，覆盖效果好，越来越多的实际情境中选择借助多无人机进行高效的通信覆盖。而实际应用中，对于多无人机系统灵活性、低时延、长续航及安全性的要求需重点考量。为提高无人机持续通信覆盖效果，在无人机相对稀疏这一具体情况下，提出了一种基于信息素图的、限制无人机转弯半径的分布式无人机自主规划通信覆盖方法，保证其灵活性、低时延及长续航的性能；通过引入锚节点，设计了信息素向导信息的交互模型，保证了无人机的安全性。该方法在待覆盖区域最大接入时间间隔方面远优于半随机择取航向的方式，同时平均接入时间间隔下降约15%;对比无地理价值描述的普通信息素图，该方法的平均接入时间间隔与最大接入时间间隔均下降约6%。通过无人机间的解耦，避免了分布式方法面临的无人机间异步问题。更多还原

【Abstract】 Due to the high flexibility and good coverage capability of UAV, it is popular to choose multi-UAV for efficient communication coverage in practical applications. However, the requirements for the multi-UAV system with flexibility, low delay, long endurance and security need to be considered. To improve the continuous communication coverage capability of UAV, in the case of relatively sparse UAV, this paper proposes a method for UAV dynamic planning communication coverage, in which the pheromone map is employed and the turning radius of UAV is limited, so as to ensure flexibility, low delay and long endurance of the UAV. By introducing anchor nodes, the interaction model of pheromone guidance information is designed to ensure security of the UAV. Compared with the semi random heading method, the method proposed is much better than in terms of the maximum access time interval of the area to be covered, and can reduce the average access time interval by about 15%. Compared with the general pheromone map without geographical value description, the method proposed can reduce the average access time interval and the maximum access time interval of the method by about 6%. Through decoupling between UAVs, this method can avoid the asynchronous problem between UAVs.更多还原