Research On Multi-UAV Cooperative Search Method Of Moving Targets With Sensing Capabilities

With the continuous development of unmanned aerial vehicle(UAV)technology,in recent years,the application of the UAV for military and civilian target search has gradually increased.Such as using multiple UAVs(multi-UAV)to carry out lost aircraft search and rescue,military target detection,post-disaster rescue and so on.According to the target's moving ability,target search can be divided into stationary target search and moving target search.Among them,the study of moving target search is more complicated,and different search methods are needed for solving different target search problems.This thesis studies the moving targets with sensing capabilities,when multi-UAV search for a number of moving targets in the mission area,the targets can intermittently obtain the position information of the UAVs from sensing devices,and take appropriate actions to increase the distance between themselves and the UAVs.Aiming at this problem,first,an environment model is established using the search map and the updating method of the search map is extended by considering the sensing capabilities of the moving targets.So the UAVs can as far as possible to avoid the sensing devices,and the positions of the UAVs would not be exposed more than once.Then a multi-UAV search path planning optimization model based on model predictive control(MPC)method is constructed,weight factors are introduced into the objective function of the multi-UAV search path planning optimization model to enhance the search performance.Next a hybrid particle swarm optimization(HPSO)algorithm for solving this model is designed,by incorporating the crossover operator into the particle swarm optimization(PSO)algorithm to enhance the search efficiency of the algorithm.Finally the simulation results show that the proposed method in this thesis can effectively improve the cooperative search efficiency and can find more targets per unit time than coverage search method and random search method.