In order to realize emergency decision-making and situation assessment

and to satisfy the requirement of reliable and energy-saving long-distance transmission of panoramic or spatial stereoscopic information in key areas

this paper takes UAV as space-based sensing platform to study the long-distance communication of UAV formation under energy-constrained conditions in emergency mobile Internet of Things applications.A cooperative task planning method for nonholonomic constrained ground mobile relays is analyzed.For this emergent mobile Internet of Things

first

its model is derived.Second

according to UAV air base platform scattering in the key airspace

area-division algorithm and location update algorithm for ground mobile relays are studied.The algorithms ensure a reliable and energy-efficient communication by deciding the ground mobile relay coverage area and optimal deployment scheme.Third

joint motion strategy for multiple ground mobile relays is researched to improve the expansibility of ground mobile relays for covering the UAV clusters

which is causing by nonholonomic constraints.It is useful to deal with the ground mobile relays failure or costs reduce.Finally

the effectiveness of the proposed method is verified through experiments.