Multi-UAV cooperative target search method

Abstract

The present invention proposes an optimization process for multiple unmanned aerial vehicle search target tasks, including: using the prior probability distribution of a single unmanned aerial vehicle search target as the prior search map of the search area, and performing a priori search map on the prior search map Iteratively update to obtain a single UAV update search map; calculate the communication probability between UAVs, determine the communicability between any two UAVs based on the communication probability, and determine the UAV communication network; The communication probability between the drones is used to fuse the search graphs between the drones to obtain the fusion search graph; combined with the target movement, the fusion search graph is updated to obtain the fusion update search graph; a single UAV is based on the fusion update Search the map, optimize the position of the drone, and guide the drone to fly. The present invention comprehensively considers and optimizes the communication performance and search performance in multi-UAV search tasks, and is more suitable for the search of moving targets, especially the target search tasks in the actual complex ocean 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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