Intelligent Scheduling Methods Of Collaborative UAV And Human-UAV Search

With the continuous improvement of UAV technology,Unmanned Aerial Vehicles(UAVs)have become more and more widely used in target search,but in a large part of search tasks,UAVs cannot completely replace people.Compared to UAV target search,collaborative human-UAV search can achieve higher efficiency and success rate.However,while there are many studies on UAV search path planning,there are few researches on collaborative human-UAV search.This paper systematically researches the intelligent scheduling methods of collaborative UAV and human-UAV search.First,we carry out research on basic multi-UAV collaborative search path planning by focusing on the problem of search for missing tourists in scenic spots,establishing a probability distribution model of target locations,and presenting a collaborative search path planning method based on evolutionary computation.On this basis,we further consider path planning in collaborative human-UAV search problem,and based on the key feature of "whether the target evades search",establish corresponding problem models and propose corresponding scheduling methods.For the first situation of "target does not evade search",this paper studies the collaborative human-UAV search scheduling method in the search and rescue mission of missing tourists in the wild area,and proposes a path planning method based on biogeographic optimization.The result won the Daniel H.Wagner Prize for Excellence in the Practice of Advanced Analytics and Operations Research.For the second situation of "target does evasion search",this paper studies the collaborative human-UAV search scheduling method in the field of searching escaped criminals in the wild area.To solve the problem,a path planning method based on hybrid evolutionary algorithm was proposed,and the research results were successfully applied to an escaped criminal search operation in Shanyang County.Simulation experiments and practical application results verify the effectiveness of the proposed collaborative UAV and human-UAV search path planning method.The research results of this paper can be extended to a wider range of scenarios,such as the reconnaissance and tracking of battlefield targets.It is of great significance to improve the use efficiency and the search ability of UAV.