Research On Technologies Of Multi-UAV Cooperative Area Search

This thesis designs a complete multi-UAV search strategy auxiliary system.Through the optimization design,the integrated and practical multi-UAV collaborative search path planning scheme can be realized for assistant decision by inputting some prior information into the search strategy auxiliary system,such as map environmental information,UAV platform sensor information,and target type.The study on the critical technologies for multi-UAV collaborative search is divided into two major modules: search area processing module and collaborative search strategy module.The main function of the search area processing module is to process the boundary of the search area.Regularizing the task search area can be realized by some reasonable processing methods,such as enveloping,dividing,and completing,which reduces the difficulty of searching the task area and improves the efficiency of collaborative search.Firstly,the boundary map is extracted from the hot spot map through the Jarvis stepping method or compact envelope algorithm,where the target may appear.Then,according to the concavity and convexity of the boundary map,a suitable processing algorithm is selected.Meanwhile,numerical simulations are presented to demonstrate the effectiveness and feasibility of the processing algorithm.Moreover,an improved concave point processing algorithm has been proposed in this thesis for concave polygons and the effectiveness of the proposed algorithm is verified through simulation.The main function of the collaborative search strategy module is to plan a suitable search strategy for different target types.Three types of targets are taken into account: static targets,static time-sensitive targets,and moving targets.After obtaining the area boundary from the search area processing module,some reasonable search strategies are designed according to the characteristics of different target types: a collaborative scanning search strategy for static targets,a coordinated interval loop search strategy for static time-sensitive targets,and an oblique line cooperative searching strategy for moving targets.The effectiveness of the search strategies is verified through simulation.For static time-sensitive targets,a new multi-UAV collaborative interval loop search strategy is proposed.Meanwhile,compared with the other two search strategies,numerical simulations are presented to demonstrate the effectiveness of the new interval loop search strategy.A multi-UAV search strategy auxiliary system is proposed by combining the search area processing module and the collaborative search strategy module.Meanwhile,the integrated and practical multi-UAV collaborative search path planning scheme is obtained from the proposed system.