METHOD OF DYNAMIC TREE TOPOLOGY FORMATION IN SWARMING UAV SENSOR NETWORK

摘要

Provided is a method for forming a dynamic tree topology of a formation-flying UAV sensor network. A network forming method according to one implementation example of the present invention receives beacon messages from neighboring nodes; calculates a link cost for the neighboring nodes by considering the number of accumulated hops along with the LQIs of the received beacon messages; and selects one of the neighboring nodes as a parent node based on the link cost. According to this, a parent node is selected based on a link cost which is calculated by considering the number of accumulated hops along with LQIs, therefore, links of an optimal tree network can be set up. [Reference numerals] (S240) Select parent by using Hop-LQI Weight equation