The invention provides a track
programming method used in searching of uncertain environment using multi unmanned aerial vehicles. The track
programming method comprises following steps: modeling of aflight environment is carried out, modeling of flight states is carried out, coding of
genetic algorithm is carried out, and modeling of a searching probability graph is carried out; initialization of calculating parameters of the
genetic algorithm is carried out; unmanned aerial vehicle flight mode is determined; the
genetic algorithm is adopted for random generation of path
population, the
population with the largest reward is selected, the unmanned aerial vehicles are controlled to fly to the
population, prediction of path at current positions is carried out, and the step is repeated; flymechanics are added into unmanned aerial vehicle flight environment; the unmanned aerial vehicle searching environment is divided into 9 zones, the distance between each pair of zones is designed to be the distance from the center of each zone to the center of another zone, and the distance between two zone sharing a same edge is defined to be 1, and the reward between each pair of zones is designed to be the reciprocal of the corresponding distance. The track
programming method is capable of performing target search effectively, and enlarging map covering rate, realizing effective cooperationof a plurality of unmanned aerial vehicles, and increasing
research efficiency.