A collaborative active perception method for rapid target search of UAV swarms
A target search and UAV technology, which is applied in the field of collaborative active perception for fast target search of UAV groups, and achieves the effects of high convergence accuracy, improved execution efficiency, and improved practicability and efficiency.
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[0021] The present invention will be further described below in conjunction with accompanying drawing.
[0022] refer to figure 1 It is a flow chart of the cooperative active perception method for rapid target search of UAV swarms in the present invention, which is especially suitable for real-time and rapid detection of large-scale and incompletely known complex target areas by UAV swarms under multi-constraint conditions. Target search and track planning, the method specifically includes the following steps:
[0023] 1) Set the number N of UAVs, the starting point of each UAV, and the maximum number of iterations for subsequent calculations. According to the target monitoring area of the drone group, set n target positions of the drone group; the drone group includes N independently moving drones, and each drone is equipped with a visual sensor, according to The sensing distance of this visual sensor sets the monitoring radius R of each unmanned aerial vehicle (in this e...
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