In this paper, a novel adaptive algorithm to detect and track targets with low grazing angle is addressed. For this purpose, an orthogonal frequency division multiplexing (OFDM) radar signal is employed through an edge computing framework over the radar platform. However, detecting the targets in the low grazing angle area is a great challenge due to severe multipath reflection effects. The Earth’s curvature geometry model is presented as the multipath propagation model. Based on the fact that the different scattering centers of a target resonate at different frequencies, we use the optimized OFDM waveform and propose a novel target tracking procedure for low grazing angle target tracking scenarios. The obtained results show that using an OFDM radar waveform provides a more uniform detection coverage in the presence of multipath propagation such that this will fill in the nulls. Finally, simulations are used to compare the performance of the proposed OFDM waveform with the conventional equal-power, the generalized likelihood ratio (GLR)-based and single-carrier waveforms.