The Group Mobility Model Optimized by the D* Obstacle Avoidance Algorithm

In Ad Hoc Networks, the Reference Point Group Mobility Model (RPGM) is widely used to simulate the coordinated movement of nodes. However, traditional RPGM models often assume an idealized environment for node movement, overlooking the presence of obstacles and lacking effective obstacle avoidance mechanisms. This limitation reduces the model's adaptability in complex real-world scenarios. To address this issue, this paper proposes a D* algorithm-optimized RPGM model. In this model, the D* algorithm is capable of real-time obstacle avoidance path planning, allowing the nodes in the group to dynamically bypass obstacles during movement. Simulation experiments demonstrate that this model not only enhances obstacle avoidance capabilities but also maintains the coordinated movement of nodes, significantly improving network stability and robustness.