Activities on Unmanned Aerial Vehicle (UAV) have increased over the last years and there are many fields in which UAVs can be used. One of the basic applications is reconnaissance of a given area using multiple UAVs. To perform reconnaissance mission, there are two methods: (i) path planning to navigate the pre-determined route; and (ii) random mobility method to explore without prior knowledge. In this paper, we indicate the imbalance problem of existing random mobility models for reconnaissance and propose a new model considering reconnaissance balance based on the number of visits. We divide the scanning area into N
zones and then select a zone stochastically in which the search is insufficient. We evaluated the performance of the model by focusing on the coverage rate and average inter-visiting time. The proposed model shows that the 90%-coverage reaching time is improved by about 25% and the average inter-visiting time is improved by up to 15% compared to the previous approach.
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