Simulation Research On Multi-UAV Cooperative Area Search

With the development of technology,cluster control has gradually become the main research direction of UAV,and multi-UAV cooperative task planning as an important research branch has always been concerned.The UAV has the problems of low search pertinence and low efficiency;However,multi-UAV cooperative area search can improve coverage in key areas and reduce repeated search paths.Therefore,this paper deeply studies the relevant content of UAV area search,and we have understood the achievements and problems in this field.After thinking and discussing these problems,a cooperative area search algorithm for multi-UAV in uncertain environment is proposed.Based on correlation algorithm,this paper develops a simulation system to provide a better human-computer interface for simulation experiment.In this paper,the area search task is divided into search phase and return phase.In the search phase,the multi-UAV cooperative region search algorithm is proposed,which combines cooperative search and pigeon-inspired optimization(PIO).Firstly,a concerned regional environment and the initial search probability map are established.Then,by applying the receding horizon prediction method,the area search paths for multi-UAV are generated by utilizing the proposed cooperative pigeon-inspired optimization(CPIO).Finally,the optimal prediction path is calculated by fitness function.With this method,UAVs can reinforce search in key areas and avoid flying into the no-fly zone.UAV completes the search task under the guidance of the optimal prediction path.In the return stage,a path planning method based on A-Star algorithm is proposed.This path can ensure the safety of UAV,and satisfy the minimum turning radius constraint.Compared with the standard algorithm,the improved A-star algorithm effectively reduces the path planning time.The simulation results show that the algorithm proposed in this paper has good search effect and can satisfy the area search task of UAV in uncertain environment.According to the algorithm content,a simulation system is designed by using the interface development tool.The software can realize many functions,such as performance customization,dynamic track,route repair and so on.After the operator inputs the data,the software can calculate the UAV search track and display it in the map.The experimental results show that the simulation system can effectively realize the path planning of multi-UAV in uncertain environment and meet the various requirement.