Multi-unmanned aerial vehicle game collaborative search method based on perception-locking-discovery

Abstract

The invention discloses a multi-unmanned aerial vehicle game collaborative search method based on perception-locking-discovery, and belongs to the technical field of multi-unmanned aerial vehicle collaborative search. Firstly, multiple unmanned aerial vehicles cooperatively search to establish an environment model and initialize parameters; secondly, unmanned aerial vehicle task load parameters are set, and a multi-unmanned aerial vehicle flight decision potential energy game is completed; and finally, updating the target probability graph through a sensing-locking-discovery mechanism. According to the method, the environment probability graph is updated by searching the target, so that the uncertainty of the whole environment is reduced; a sensing-locking-discovery search mechanism is put forward, the discovery probability of the target is increased, a large-value probability graph fusion method is put forward, and the effectiveness and accuracy of information fusion are improved while the limitation of own information is overcome; through a potential energy game method, autonomous decision control of multiple unmanned aerial vehicles is facilitated, and the overall search efficiency is ensured. The method is especially suitable for the condition that the task load performance of the unmanned aerial vehicle is low, the improvement effect is remarkable, and the method has good application prospects.

Description

technical field [0001] The invention relates to the technical field of UAV cooperative search, in particular to a multi-UAV game cooperative search method based on perception-lock-discovery. Background technique [0002] The rapid development of unmanned aerial vehicles (UAVs) has facilitated their incorporation into many fields. Due to the advantages of low cost, strong mobility, and avoidance of casualties, UAVs are used to perform complex tasks in dangerous environments. However, due to the low efficiency and poor robustness of a single UAV, the use of multi-UAV cooperative missions has received more and more attention in military and civilian applications. Coordinated search is equipped with reconnaissance loads (such as cameras, radars, and Sonar) is a major application aspect of multi-UAV. [0003] Many search and surveillance tasks involve measuring and exploring unknown areas, such as target search, environmental monitoring, and map construction. Through the inform...

AI Technical Summary

Problems solved by technology

However, due to the low efficiency and poor robustness of a single UAV, the use of multi-UAV cooperative missions has received more and more attention in military and civilian applications. Coordinated search is equipped with reconnaissance loads (such as cameras, radars, and Sonar) is a major application aspect of multi-UAV

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