Multi-unmanned aerial vehicle cooperative target searching method

Abstract

The invention provides optimization processing for a search target task of multiple unmanned aerial vehicles, wherein the optimization processing comprises the steps: enabling the prior probability distribution of a search target of single unmanned aerial vehicles to serve as a prior search graph of a search region, carrying out iterative updating of the prior search graph, and obtaining updated search graphs of the single unmanned aerial vehicles; calculating the communication probability between the unmanned aerial vehicles, determining the communicability between any two unmanned aerial vehicles based on the communication probability, and determining an unmanned aerial vehicle communication network; fusing the search graphs among the unmanned aerial vehicles based on the communication probability among the unmanned aerial vehicles to obtain a fused search graph; updating the fused search graph in combination with the target motion to obtain a fused updated search graph; and enablingthe single unmanned aerial vehicles to update the search graph based on fusion, optimizing the positions of the unmanned aerial vehicles and guiding the unmanned aerial vehicles to fly. The method comprehensively considers and optimizes the communication performance and the search performance in the search task of the multiple unmanned aerial vehicles, and is more suitable for the search of a moving target, especially the target search task in the actual complex marine environment.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle control, in particular to a multi-unmanned aerial vehicle cooperative target search method. Background technique [0002] UAVs have obvious advantages in the field of target search and rescue. [0003] Taking maritime target search as an example, compared with the current ship search mode, the use of drones to search for moving targets in sea areas has the advantages of flexible use, high safety and high search efficiency, so it is gradually being applied to large-scale applications in complex marine environments. , Long search tasks. Usually, UAVs sail according to the planned route, and detect the mission area through the equipped high-definition camera and other equipment, in order to complete the target search as soon as possible or cover as many target areas as possible. In addition, compared with a single UAV, multiple UAVs can effectively improve the search efficiency thro...

AI Technical Summary

Problems solved by technology

[0008] The purpose of the present invention is to provide a multi-UAV cooperative target search method, which aims to solve the technical problems of poor information fusion and low search efficiency in the execution of multi-UAV cooperative tasks in the prior art, and can realize unmanned Fast and stable tracking of moving targets by machine

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