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Flying ad hoc network (FANET) is a communication network for data transmission among Unmanned Aerial Vehicles (UAVs). In ad hoc network, the UAVs movement is usually applied to improve network fault-tolerance, but it easily causes the disconnection of communication links, and the success rate is low. In this paper, we propose a local fault-tolerant control algorithm based on node movement freedom degree (LFTMF). Under the constraint of node movement freedom degree, the algorithm transforms the single-connected network into bi-connected network through the autonomous movement of UAVs to improve the fault-tolerant ability of the FANET network. Firstly, the consistency between k-hop cut-points and global cut-points in FANET network is analyzed. Then, based on the k-hop local topology of FANET network, the UAV node movement freedom degree model is established. Finally, according to the location distribution of k-hop cut-points in the FANET network, the bi-connected fault-tolerant network is realized by UAVs cascade movement. Compared with the existing algorithms, simulation results show that the proposed algorithm achieves better performance in success rate, deviation distance, cascade movement ratio and adjustment period.

Localized Fault Tolerant Algorithm Based on Node Movement Freedom Degree in Flying Ad Hoc Networks