  According to the rapid development of drone technologies, drones are widely
used in many applications including military domains. In this paper, a novel
situation-aware DRL- based autonomous nonlinear drone mobility control
algorithm in cyber-physical loitering munition applications. On the
battlefield, the design of DRL-based autonomous control algorithm is not
straightforward because real-world data gathering is generally not available.
Therefore, the approach in this paper is that cyber-physical virtual
environment is constructed with Unity environment. Based on the virtual
cyber-physical battlefield scenarios, a DRL-based automated nonlinear drone
mobility control algorithm can be designed, evaluated, and visualized.
Moreover, many obstacles exist which is harmful for linear trajectory control
in real-world battlefield scenarios. Thus, our proposed autonomous nonlinear
drone mobility control algorithm utilizes situation-aware components those are
implemented with a Raycast function in Unity virtual scenarios. Based on the
gathered situation-aware information, the drone can autonomously and
nonlinearly adjust its trajectory during flight. Therefore, this approach is
obviously beneficial for avoiding obstacles in obstacle-deployed battlefields.
Our visualization-based performance evaluation shows that the proposed
algorithm is superior from the other linear mobility control algorithms.
