FANET-Sim: A Simulation Framework for UAV Swarm Communication

摘要

In communication-deprived environments, such as disaster rescue or remote mountainous areas, the effective collaboration of drone swarms relies on a communication network formed by the drones, known as a Flying Ad-hoc Network (FANET). Given the high costs associated with real-flight outdoor tests, a highly realistic simulation platform is essential for testing and applying FANET-related algorithms. Existing simulation platforms may suffer from overly simplified communication models or inadequate drone modeling and simulation fidelity, which limits their ability to effectively support drone swarm simulations. To compensate these issues, this paper designs the FANET-Sim simulation module, developed within the Robot Operating System (ROS) framework, which offers (i) easy integration into the ROS network with high portability and scalability, supporting distributed deployment within local area network (LAN), (ii) precise modeling of signal attenuation over distance in wireless communication, and (iii) assessment of line-of-sight (LOS) communication in complex obstacle environments. The simulation platform was tested in complex urban scenarios, demonstrating excellent visualization of communication network topology. It achieves a balance between precision in drone simulation and computational resource overhead, realistically simulating wireless communication scenarios and effectively supporting research and practical applications of FANET.