Multi-uav dynamic target search method and device, equipment and medium

Abstract

The application provides a multi-unmanned aerial vehicle dynamic target search method and device, equipment and medium, and relates to the technical field of unmanned aerial vehicle control. In the application, first, based on the distribution of the target object to be searched in the target search area, the search state information of the target object is determined; second, based on the search state information, the target search strategy corresponding to each unmanned aerial vehicle in the plurality of unmanned aerial vehicles included in the target unmanned aerial vehicle cluster is determined; then, each target search strategy is assigned to the corresponding unmanned aerial vehicle, so that each unmanned aerial vehicle executes the corresponding target search strategy to search for the target object. Based on the above, the problem of relatively low reliability of unmanned aerial vehicle dynamic target search in the prior art can be improved.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) control technology, and more specifically, to a method, apparatus, device, and medium for dynamic target search involving multiple UAVs. Background Technology

[0002] Unmanned aerial vehicles (UAVs) possess advantages such as low cost, long endurance, and fast response speed, enabling them to perform search, rescue, and reconnaissance missions in environments inaccessible to humans or highly dangerous, significantly reducing the risk of human casualties. Area target reconnaissance and search by UAV swarms is a typical application, enabling large-area coverage and multi-angle reconnaissance, and has significant application value in border patrol, emergency rescue, traffic control, environmental monitoring, and resource exploration. However, current technologies suffer from relatively low reliability in searching for dynamic targets. Summary of the Invention

[0003] In view of this, the purpose of this application is to provide a method, apparatus, device and medium for searching dynamic targets of multiple unmanned aerial vehicles (UAVs) to improve the problem of relatively low reliability of UAV dynamic target search in the prior art.

[0004] To achieve the above objectives, this application adopts the following technical solution: A method for dynamic target search involving multiple unmanned aerial vehicles (UAVs) includes: Based on the distribution of the target object in the target search area, the search status information of the target object is determined, wherein the search status information is used to characterize the probability that the target object will leave the target search area; Based on the search status information, a target search strategy is determined for each of the multiple drones in the target drone cluster, wherein the target search strategy is used to reflect the flight trajectory of the corresponding drone in the target search area. Each target search strategy is assigned to a corresponding UAV, so that each UAV executes the corresponding target search strategy to search for the target object.

[0005] In a preferred embodiment of this application, in the above-described multi-UAV dynamic target search method, the step of determining the search status information of the target object based on its distribution within the target search area includes: Based on the initial search area where the target object to be searched is located, the target search area is determined, wherein the target search area belongs to a convex polygon region; Based on the distribution of the target object in the target search area, the search status information of the target object is determined.

[0006] In a preferred embodiment of this application, in the above-described multi-UAV dynamic target search method, the step of determining the target search area based on the initial search area where the target object to be searched is located includes: Determine whether the initial search area containing the target object to be searched belongs to a convex polygon region; If the initial search region is a convex polygon region, then the initial search region is determined as the target search region; If the initial search region does not belong to the convex polygon region, then the initial search region is segmented to form a target search region that belongs to the convex polygon region.

[0007] In a preferred embodiment of this application, in the above-described multi-UAV dynamic target search method, the step of segmenting the initial search region to form a target search region belonging to the convex polygon region if the initial search region does not belong to the convex polygon region includes: If the initial search region does not belong to the convex polygon region, then among the vertices of the initial search region, the concave point that is closest to the initial distribution position of the target object in the target search region is determined, and this concave point is taken as the first vertex. Then, starting from the first vertex, the second vertex is determined in a clockwise direction, skipping one vertex. Based on the line connecting the first vertex and the second vertex, the initial search region is divided into a first segmentation region and a second segmentation region; The regions where the target objects are located in the first segmented region and the second segmented region are determined as new initial search regions; Determine whether the new initial search region belongs to a convex polygon region; If the new initial search region is a convex polygon region, then the new initial search region is determined as the target search region; If the new initial search region does not belong to the convex polygon region, then the new initial search region is segmented to form a target search region that belongs to the convex polygon region.

[0008] In a preferred embodiment of this application, in the above-described multi-UAV dynamic target search method, the step of determining the search status information of the target object based on its distribution in the target search area includes: Based on the initial distribution position and movement speed of the target object in the target search area, and the initial distribution position and movement speed of the target drone cluster, a suspected area of ​​the target object is determined, wherein the suspected area refers to the area where the target object may appear after the target time. Based on the radius of the suspected area, the minimum distance between the initial distribution position of the target object and the boundary of the target search area, and the distance between the initial distribution position of the target object and the geometric center of the target search area, the search status information of the target object is determined.

[0009] In a preferred embodiment of this application, in the above-described multi-UAV dynamic target search method, the step of determining the suspected area of ​​the target object based on the initial distribution position and movement speed of the target object in the target search area, and the initial distribution position and movement speed of the target UAV cluster, includes: Based on the initial distribution position and movement speed of the target object in the target search area, and the initial distribution position and movement speed of the target drone cluster, the meeting time of the target object and the target drone cluster traveling towards each other along the line connecting the initial distribution positions of the target object and the target drone cluster is determined. Based on the encounter time and the moving speed of the target drone cluster, the moving distance of the target drone cluster is determined; Based on the distance between the initial distribution location of the target drone cluster and the initial distribution location of the target object, and the movement distance, the suspected area of ​​the target object is determined.

[0010] In a preferred embodiment of this application, in the aforementioned multi-UAV dynamic target search method, the step of determining the search status information of the target object based on the radius of the suspected region, the minimum distance between the initial distribution position of the target object and the boundary of the target search region, and the distance between the initial distribution position of the target object and the geometric center of the target search region includes: If the minimum distance between the initial distribution location of the target object and the boundary of the target search area is less than the radius of the suspected area, then search status information is determined to characterize that the target object has a very high probability of leaving the target search area; If the minimum distance between the initial distribution position of the target object and the boundary of the target search area is greater than the radius of the suspected area, the distance between the initial distribution position of the target object and the geometric center of the target search area is greater than the radius of the suspected area, and the minimum distance between the initial distribution position of the target object and the boundary of the target search area is less than the distance between the initial distribution position of the target object and the geometric center of the target search area, then search state information is determined to characterize that the target object has a high probability of leaving the target search area; If the minimum distance between the initial distribution position of the target object and the boundary of the target search area is greater than the radius of the suspected area, the distance between the initial distribution position of the target object and the geometric center of the target search area is greater than the radius of the suspected area, and the minimum distance between the initial distribution position of the target object and the boundary of the target search area is greater than the distance between the initial distribution position of the target object and the geometric center of the target search area, then search state information is determined to characterize that the target object has a low probability of leaving the target search area; If the minimum distance between the initial distribution position of the target object and the boundary of the target search area is greater than the radius of the suspected area, and the distance between the initial distribution position of the target object and the geometric center of the target search area is less than the radius of the suspected area, then search status information is determined to characterize that the target object has a very low probability of leaving the target search area.

[0011] In a preferred embodiment of this application, in the above-described multi-UAV dynamic target search method, the step of determining the target search strategy corresponding to each UAV among the multiple UAVs included in the target UAV cluster based on the search state information includes: If the search status information indicates that the target object has a high probability of leaving the target search area, then a first strategy combination is determined, wherein the first strategy combination includes the target search strategy corresponding to each of the multiple drones included in the target drone cluster, and at least one target search strategy is a strategy of reciprocating from the boundary of the target search area to the center, and at least one target search strategy is a strategy of reciprocating from the center of the target search area to the boundary. If the search status information indicates that the target object has a high probability of leaving the target search area, then a second strategy combination is determined. The second strategy combination includes the target search strategy corresponding to each of the multiple drones in the target drone cluster. At least one target search strategy is a strategy of reciprocating from the boundary of the target search area to the center, at least one target search strategy is a strategy of reciprocating from the center of the target search area to the boundary, and at least one target search strategy is a strategy of spiral trajectory search first outward and then inward. If the search status information indicates that the target object has a low probability of leaving the target search area, then a third strategy combination is determined. The third strategy combination includes the target search strategy corresponding to each of the multiple drones in the target drone cluster. At least one target search strategy is a strategy of reciprocating from the boundary of the target search area to the center, at least one target search strategy is a strategy of reciprocating from the center of the target search area to the boundary, at least one target search strategy is a strategy of spiral trajectory search first outward and then inward, and at least one target search strategy is a strategy of spiral trajectory search first inward and then outward. If the search status information indicates that the target object has a very low probability of leaving the target search area, then a fourth strategy combination is determined. The fourth strategy combination includes the target search strategy corresponding to each of the multiple drones in the target drone cluster, and at least one target search strategy belongs to the spiral trajectory search strategy of first going out and then in, and at least one target search strategy belongs to the spiral trajectory search strategy of first going in and then out.

[0012] In a preferred embodiment of this application, the strategy of searching a spiral trajectory from the outside inward in the aforementioned multi-UAV dynamic target search method includes: The initial target point for the search is determined, wherein the initial target point is the intersection of the boundary of the suspected area and the target line segment. The suspected area refers to the area where the target object may appear after the target time. The target line segment is the line connecting the initial distribution position of the target object in the target search area and the initial distribution position of the target drone cluster. After a drone in the target drone cluster moves to the initial target point, the drone is controlled to move with the initial distribution position of the target object in the target search area as the center, the radius of the suspected area as the initial radius and the radius gradually increasing, and the movement direction as counterclockwise. After the drone moves to a distance of a preset maximum distance from the initial distribution position of the target object in the target search area, the drone is controlled to move in a counter-clockwise direction, with the initial distribution position of the target object in the target search area as the center, the preset maximum distance as the initial radius and the radius gradually decreasing.

[0013] In a preferred embodiment of this application, the strategy of searching a spiral trajectory from the inside out in the aforementioned multi-UAV dynamic target search method includes: The initial target point for the search is determined, wherein the initial target point is the intersection of the boundary of the suspected area and the target line segment. The suspected area refers to the area where the target object may appear after the target time. The target line segment is the line connecting the initial distribution position of the target object in the target search area and the initial distribution position of the target drone cluster. After a drone in the target drone cluster moves to the initial target point, the drone is controlled to move with the initial distribution position of the target object in the target search area as the center, the radius of the suspected area as the initial radius and the radius gradually decreasing, and the movement direction as counterclockwise. After the UAV moves to the initial distribution position of the target object in the target search area, the UAV is controlled to move with the initial distribution position of the target object in the target search area as the center, 0 as the initial radius and the radius gradually increasing, and counterclockwise as the direction of movement.

[0014] In a preferred embodiment of this application, the strategy of reciprocating the search from the boundary of the target search area towards the center in the above-described multi-UAV dynamic target search method includes: An initial target point is determined, wherein the initial target point is the point on the boundary of the sub-region where the target object is located that is the smallest in distance from the initial distribution position of the target object among the multiple sub-regions included in the target search region. The multiple sub-regions are formed by dividing the target search region by lines connecting the geometric center of the target search region to each vertex. After a drone in the target drone cluster moves to the initial target point, the drone is controlled to move along multiple trajectories parallel to the boundary of the sub-region where the target object is located. Each trajectory is located within the sub-region where the target object is located, and the distance between the preceding trajectory and the geometric center of the target search area is greater than the distance between the following trajectory and the geometric center of the target search area.

[0015] In a preferred embodiment of this application, the strategy of reciprocating the search from the center to the boundary of the target search area in the above-described multi-UAV dynamic target search method includes: An initial target point for the search is determined, wherein the initial target point belongs to the geometric center of the target search area; After a drone in the target drone cluster moves to the initial target point, the drone is controlled to move along multiple trajectories parallel to the boundary of the sub-region where the target object is located. Each trajectory is located within the sub-region where the target object is located, and the distance between the preceding trajectory and the geometric center of the target search area is less than the distance between the following trajectory and the geometric center of the target search area.

[0016] This application also provides a multi-UAV dynamic target search device, including: The search status determination module is used to determine the search status information of the target object based on the distribution of the target object in the target search area, wherein the search status information is used to characterize the probability that the target object will leave the target search area. The search strategy determination module is used to determine the target search strategy for each drone in the target drone cluster based on the search status information, wherein the target search strategy is used to reflect the flight trajectory of the corresponding drone in the target search area. The search strategy allocation module is used to allocate each target search strategy to the corresponding UAV, so that each UAV executes the corresponding target search strategy to search for the target object.

[0017] Based on the above, this application also provides an electronic device, including: Memory, used to store computer programs; A processor connected to the memory is used to execute the computer program stored in the memory to implement the above-described multi-UAV dynamic target search method.

[0018] Based on the above, this application also provides a computer-readable storage medium storing a computer program that, when executed, performs the various steps of the above-described multi-UAV dynamic target search method.

[0019] The multi-UAV dynamic target search method, apparatus, device, and medium provided in this application first determine the search status information of the target object based on its distribution in the target search area; second, based on the search status information, determine the target search strategy for each UAV in the target UAV cluster; then, assign each target search strategy to its corresponding UAV, so that each UAV executes the corresponding target search strategy to search for the target object. Based on the above, since the search status information characterizes the probability of the target object leaving the target search area, and the UAV's target search strategy is determined based on the search status information, there is an adaptability between the target search strategy and the probability of the target object leaving the target search area. This can, to some extent, improve the problem of search failure caused by the target object potentially leaving the target search area. Therefore, it can improve the relatively low reliability of UAV dynamic target search in the prior art. Attached Figure Description

[0020] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings.

[0021] Figure 1 A structural block diagram of an electronic device provided in an embodiment of this application.

[0022] Figure 2 This is a flowchart illustrating the multi-UAV dynamic target search method provided in an embodiment of this application.

[0023] Figure 3 This is a schematic diagram illustrating the distribution of the drone cluster and target objects provided in an embodiment of this application.

[0024] Figure 4 This is a schematic diagram illustrating the conversion of a concave polygon into a convex polygon, provided as an embodiment of this application.

[0025] Figure 5 This is a schematic diagram of a circular suspicious target area provided in an embodiment of this application.

[0026] Figure 6 This is a schematic diagram illustrating the degree to which the target P is close to the boundary of the task region, as provided in an embodiment of this application.

[0027] Figure 7 This is a schematic diagram of a spiral trajectory search that proceeds from the outside in, as provided in an embodiment of this application.

[0028] Figure 8 This is a schematic diagram of a spiral trajectory search that proceeds from the inside out, as provided in an embodiment of this application.

[0029] Figure 9 This is a schematic diagram illustrating a reciprocating search from the boundary of the target search area towards the center, provided as an embodiment of this application.

[0030] Figure 10 This is a schematic diagram illustrating a reciprocating search from the center of the target search area to its boundary, provided as an embodiment of this application.

[0031] Figure 11 This is a block diagram of a multi-UAV dynamic target search device provided in an embodiment of this application. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0033] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0034] like Figure 1 As shown in the illustration, this application provides an electronic device. The electronic device may include a memory, a processor, and a multi-UAV dynamic target search device.

[0035] Specifically, the memory and the processor are electrically connected directly or indirectly to enable data transmission or interaction. For example, the memory and the processor can be electrically connected via one or more communication buses or signal lines. The multi-UAV dynamic target search device includes at least one software functional module stored in the memory in the form of software or firmware. The processor is used to execute executable computer programs stored in the memory, such as the software functional modules and computer programs included in the multi-UAV dynamic target search device, to implement the multi-UAV dynamic target search method provided in the embodiments of this application.

[0036] Optionally, the memory may be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc. Furthermore, the processor may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), a System on Chip (SoC), etc.; it may also be a Digital Signal Processor (DSP), Application-Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0037] Understandable. Figure 1 The structure shown is for illustrative purposes only; the electronic device may also include components that are more advanced than those shown. Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown may also include, for example, a communication unit for exchanging information with other devices.

[0038] Combination Figure 2 This application also provides a multi-UAV dynamic target search method applicable to the aforementioned electronic device. The method steps defined in the process of the multi-UAV dynamic target search method can be implemented by the electronic device.

[0039] The following will be about Figure 2 The specific process shown will be explained in detail.

[0040] Step S110: Based on the distribution of the target object to be searched in the target search area, determine the search status information of the target object.

[0041] In this embodiment, the electronic device can determine the search status information of the target object based on the distribution of the target object in the target search area (such as the respective positions of the target objects in the target search area). The search status information characterizes the probability that the target object will leave the target search area, such as highly likely to leave, relatively likely to leave, relatively likely to leave, and extremely unlikely to leave. The specific value can be determined according to actual needs, or it can be represented by a value between 0 and 1.

[0042] Step S120: Based on the search status information, determine the target search strategy for each drone among the multiple drones included in the target drone cluster.

[0043] In this embodiment, after determining the search status information, the electronic device can determine the target search strategy for each of the multiple drones in the target drone cluster based on the search status information. The target search strategy reflects the flight trajectory of the corresponding drone in the target search area, i.e., the search trajectory.

[0044] Step S130: Each target search strategy is assigned to the corresponding UAV, so that each UAV executes the corresponding target search strategy to search for the target object.

[0045] In this embodiment, after determining the target search strategy for each UAV, the electronic device can assign each target search strategy to the corresponding UAV, so that each UAV executes the corresponding target search strategy to search for the target object. The search termination mechanism is unrestricted; for example, the search can terminate after the target object is found, after the target object leaves the target search area, after each location in the target search area has been searched at least once, or after the search duration exceeds a threshold. The specific search termination mechanism can be configured according to actual needs.

[0046] Based on the above, since the search status information is used to characterize the probability of the target object leaving the target search area, and the target search strategy of the UAV is determined based on the search status information, the target search strategy is adapted to the probability of the target object leaving the target search area. This can improve the problem of search failure caused by the target object possibly leaving the target search area to a certain extent. Therefore, it can improve the problem of relatively low reliability of UAV dynamic target search in the prior art.

[0047] In one exemplary application scenario, such as Figure 3 The coordinate system is established with the UAV airport (i.e., the current distribution location of the UAV swarm) as the origin and eastward as the positive axis. Consider an arbitrary polygonal ground mission area. There is a dynamic ground target within the region. Its initial position is The magnitude of the velocity is constant. The direction of movement is a random variable, and the probability of moving in each direction is equal. The drone swarm needs to start from the airport. Departure, flight to the region Inside, a certain strategy is used against dynamic ground targets. Search and location are performed. Each drone maintains a constant flight altitude, although different drones may have different altitudes to prevent collisions. The drones have the same speed and reconnaissance radius. and .

[0048] Among them, drones and targets exist Location at any moment and It can be represented as: ; ; in, and These represent the velocity components of the drone in the X and Y axes, respectively. For time intervals.

[0049] The criteria for a drone to detect a target are: the distance between the dynamic ground target and the drone is less than the drone's detection radius. Once the drone detects a target, the search mission is considered successful. If the target leaves the mission area without being detected, or if the duration of the search mission exceeds the maximum allowed duration, the search mission is considered a failure.

[0050] Firstly, regarding step S110, it should be noted that the specific method for determining the search status information of the target object is not limited and can be selected according to actual needs.

[0051] For example, in an alternative implementation, the search status information of the target object can be determined directly based on the distribution of the target object in the target search area.

[0052] For example, in another alternative implementation, in order to enable efficient searching of arbitrary polygonal regions and improve the problem that the prior art can only effectively search regular regions (such as rectangles), the above step S110 can further include steps S111 and S112, the specific contents of each step are as follows.

[0053] Step S111: Determine the target search area based on the initial search area where the target object to be searched is located.

[0054] In this embodiment, the target search area can be determined based on the initial search area where the target object to be searched is located. The target search area is a convex polygon region. The initial search area is any polygon region.

[0055] Step S112: Based on the distribution of the target object in the target search area, determine the search status information of the target object.

[0056] In this embodiment of the application, after determining the target search area, the search status information of the target object can be determined based on the distribution of the target object in the target search area. That is, a convex polygonal region where the target object is located is determined from the initial search area, and then the search status information of the target object is determined in the convex polygonal region. In this way, the target search strategy can be determined in the convex polygonal region based on the search status information.

[0057] It is understood that the specific method of determining the target search area in step S111 above is not limited. For example, in an alternative implementation, in order to ensure that the determined target search area belongs to a convex polygon area, step S111 above may further include steps S111a, S111b and S111c, the specific contents of each step are as follows.

[0058] Step S111a: Determine whether the initial search area containing the target object to be searched belongs to a convex polygon region.

[0059] In the embodiments of this application, it can be determined whether the initial search area where the target object to be searched is located belongs to a convex polygon region.

[0060] Step S111b: If the initial search region belongs to a convex polygon region, then the initial search region is determined as the target search region.

[0061] In this embodiment of the application, if the initial search region belongs to a convex polygon region (e.g. Figure 3 As shown in the figure, the initial search region is determined as the target search region. That is, when the initial search region originally belongs to a convex polygon region, it can be directly used as the target search region without segmentation. It should be noted that in other embodiments, the initial search region belonging to a convex polygon region can also be segmented to obtain the target search region for other purposes. For example, segmentation can also be performed to reduce the area of ​​the search region to improve search efficiency.

[0062] Step S111c: If the initial search region does not belong to the convex polygon region, then the initial search region is segmented to form a target search region that belongs to the convex polygon region.

[0063] In this embodiment, if the initial search region does not belong to a convex polygon region, the initial search region is segmented to form a target search region that belongs to a convex polygon region. That is, a convex polygon region can be segmented (or extracted) from the initial search region to serve as the target search region.

[0064] It is understood that in step S111c above, the specific method of segmenting the initial search region to form the target search region belonging to the convex polygon region is not limited. For example, in an alternative implementation, in order to ensure the rationality of the segmentation while being able to form the convex polygon region, and to avoid the problem of search failure caused by searching based on the segmented search region, step S111c above may further include the following: First, if the initial search region does not belong to the convex polygon region, then among the vertices of the initial search region, determine the concave point that is closest to the initial distribution position of the target object in the target search region, and take this concave point as the first vertex. Then, starting from the first vertex, determine the second vertex in a clockwise direction, skipping one vertex. Secondly, the initial search region can be divided into a first segmentation region and a second segmentation region based on the line connecting the first vertex and the second vertex; Then, the regions where the target objects are located in the first segmented region and the second segmented region can be determined as new initial search regions; Furthermore, it can be determined whether the new initial search region belongs to a convex polygon region; On the one hand, if the new initial search region belongs to a convex polygon region, then the new initial search region is determined as the target search region; On the other hand, if the new initial search region does not belong to the convex polygon region, the new initial search region is divided to form the target search region belonging to the convex polygon region. The method of further division can be the same as the method of dividing to form the first and second segmented regions. That is, it is necessary to continue to divide until the target search region belonging to the convex polygon region is formed.

[0065] Regarding the steps above concerning whether a region belongs to a convex polygon and performing region segmentation, an alternative implementation method can be adopted as follows: (a) Arrange the polygonal task area clockwise. The vertex number is , The number of sides and vertices of the polygon. The coordinates are .

[0066] (b) Calculate the interior angles corresponding to each vertex. : ; in, and These represent the left and right adjacent edges of a vertex, respectively. and For the same vertex, and They are the same vertex.

[0067] (c) Determine each vertex Does the corresponding interior angle exceed 180 degrees? If it does, it indicates a task area... It is a concave polygon, and this vertex It is marked as a concave point.

[0068] (d) Select the initial position at a distance from the target Recent dimple The second point counting clockwise Begin by establishing a connection. , will the task area It is divided into two parts. Selecting the initial position of the target. The area where it is located will become the new mission area. . and For the same vertex, and They are the same vertex.

[0069] e) Repeat steps (a) to (d) until the segmented task region is a convex polygon.

[0070] like Figure 4 As shown, the task area of ​​the polygon The initial concave polygon, after two segmentations, becomes the task region. It is a convex polygon and contains the target. initial position At this point, a multi-UAV area search strategy can be used to search for the target.

[0071] It is understood that the specific method for determining the search status information of the target object in step S112 above is not limited. For example, in an alternative implementation, in order to ensure that the determined search status information has high reliability, step S112 above may further include steps S112a and S112b, the specific contents of each step are as follows.

[0072] Step S112a: Based on the initial distribution position and movement speed of the target object in the target search area and the initial distribution position and movement speed of the target drone cluster, determine the suspected area of ​​the target object.

[0073] In this embodiment, the suspected area of ​​the target object can be determined based on the initial distribution position and movement speed of the target object in the target search area, and the initial distribution position and movement speed of the target drone swarm. The suspected area refers to the area where the target object may appear after the target time (e.g., the time of possible encounter).

[0074] Step S112b: Based on the radius of the suspected area, the minimum distance between the initial distribution position of the target object and the boundary of the target search area, and the distance between the initial distribution position of the target object and the geometric center of the target search area, the search status information of the target object is determined.

[0075] In this embodiment of the application, after the suspected area is determined, the search status information of the target object can be determined based on the radius of the suspected area, the minimum distance between the initial distribution position of the target object and the boundary of the target search area, and the distance between the initial distribution position of the target object and the geometric center of the target search area. For example, the distribution characteristics of the target object can be determined based on the relationship between the distances, thereby obtaining the search status information.

[0076] It is understood that the specific method for determining the suspected region of the target object in step S112a above is not limited. For example, in an alternative implementation, in order to ensure that the determined suspected region can effectively characterize the possible occurrence region of the target object, step S112 above may further include the following: First, based on the initial distribution position and movement speed of the target object in the target search area, and the initial distribution position and movement speed of the target drone cluster, the meeting time of the target object and the target drone cluster traveling towards each other along the line connecting the initial distribution positions of the target object and the target drone cluster can be determined. For example, the sum of the movement speed of the target object (or three times that speed) and the movement speed of the target drone cluster (i.e., the movement speed of the drones) can be calculated. Then, the distance between the initial distribution position of the target object and the initial distribution position of the target drone cluster in the target search area can be determined. Finally, the ratio between this distance and the sum can be calculated to obtain the meeting time. Secondly, the movement distance of the target drone cluster can be determined based on the encounter time and the movement speed of the target drone cluster. For example, the movement distance can be obtained by calculating the product between the encounter time and the movement speed of the target drone cluster. Then, based on the distance between the initial distribution location of the target drone cluster and the initial distribution location of the target object, and the movement distance, a suspected area of ​​the target object can be determined. For example, the difference between the distance between the initial distribution location of the target drone cluster and the initial distribution location of the target object and the movement distance can be calculated, and this difference can be used as the radius, with the initial distribution location of the target object as the center, thereby determining a circular suspected area.

[0077] It is understood that the specific method for determining the search status information of the target object in step S112b above is not limited. For example, in an alternative implementation, in order to ensure that the determined search status information has high reliability, that is, a higher degree of matching with the actual departure status, step S112b above may further include the following: If the minimum distance between the initial distribution position of the target object and the boundary of the target search area is less than the radius of the suspected area (that is, the target object is relatively close to the boundary of the target search area), then search status information is determined to characterize that the target object has a high probability of leaving the target search area; If the minimum distance between the initial distribution position of the target object and the boundary of the target search area is greater than the radius of the suspected area, the distance between the initial distribution position of the target object and the geometric center of the target search area is greater than the radius of the suspected area, and the minimum distance between the initial distribution position of the target object and the boundary of the target search area is less than the distance between the initial distribution position of the target object and the geometric center of the target search area (that is, the target object is closer to the boundary of the target search area than to the geometric center of the target search area), then search state information is determined to characterize that the target object has a high probability of leaving the target search area. If the minimum distance between the initial distribution position of the target object and the boundary of the target search area is greater than the radius of the suspected area, the distance between the initial distribution position of the target object and the geometric center of the target search area is greater than the radius of the suspected area, and the minimum distance between the initial distribution position of the target object and the boundary of the target search area is greater than the distance between the initial distribution position of the target object and the geometric center of the target search area (that is, the target object is closer to the geometric center of the target search area than to the boundary of the target search area), then search state information is determined to characterize that the target object has a low probability of leaving the target search area; If the minimum distance between the initial distribution position of the target object and the boundary of the target search area is greater than the radius of the suspected area, and the distance between the initial distribution position of the target object and the geometric center of the target search area is less than the radius of the suspected area (that is, the target object is relatively close to the geometric center of the target search area), then search state information is determined to characterize that the target object has a very small probability of leaving the target search area.

[0078] In other words, the target needs to be identified before determining the drone search strategy. Initial position near the mission area The degree of boundary. Based on ground targets. speed of movement , at its initial position With the center of the circle, Define a circular area of ​​suspected targets (such as the suspected area mentioned above) with a radius equal to the time elapsed. Post-target Possible location range, such as Figure 5 As shown. This indicates that the drone will continue at its original speed and target. At three times its own speed, along the line segment The time when two people meet while walking towards each other. and The calculation method is as follows: ; ; in, Indicates drone airport With the goal initial position The distance between them. Polygonal task area. geometric center The determination method is as follows: ; ; ; in, and These are polygonal task regions. geometric center X and Y coordinates For the mission area The area of ​​the vertex, and the vertex and For the same vertex, is the number of sides of the polygon.

[0079] Based on the radius of the circular suspicious target area ,Target initial position and task area Minimum distance to the boundary ,Target initial position and geometric center distance ,Target Approaching the mission area The degree of boundary can be divided into, for example: Figure 6 The four situations shown: Case (a): Less than This situation indicates the target initial position Very close to the mission area Boundary, target There is a very high probability of leaving the mission area. .

[0080] Case (b): , All greater than and Less than This situation indicates the target initial position Distance from mission area The boundary is closer to the geometric center Closer, target There is a high probability of leaving the mission area. .

[0081] Case (c): , All greater than and Greater than This situation illustrates the target. initial position Distance from geometric center Compared to the task area The boundary is closer, the target Leave the mission area The probability is low.

[0082] Case (d): Greater than and Less than This situation illustrates the target. initial position The distance is very close to the geometric center ,Target Leave the mission area The probability is extremely small.

[0083] Secondly, regarding step S120, it should be noted that the specific method for determining the target search strategy corresponding to each of the multiple drones included in the target drone cluster is not restricted and can be selected according to actual needs.

[0084] For example, in an alternative implementation, in order to ensure that the determined target search strategy has high reliability, so that the target object can be effectively searched in the target search area based on the target search strategy, the above step S120 may further include steps S121, S122, S123 and S124, the specific contents of each step are as follows.

[0085] Step S121: If the search status information indicates that the target object has a very high probability of leaving the target search area, then the first strategy combination is determined.

[0086] In this embodiment of the application, if the search status information indicates that the target object has a very high probability of leaving the target search area, such as in case (a) above, then a first strategy combination is determined. The first strategy combination includes a target search strategy corresponding to each of the multiple drones included in the target drone cluster, and at least one target search strategy is a strategy that searches back and forth from the boundary of the target search area towards the center, and at least one target search strategy is a strategy that searches back and forth from the center of the target search area towards the boundary.

[0087] Step S122: If the search status information indicates that the target object has a high probability of leaving the target search area, as in case (b) above, then a second strategy combination is determined. The second strategy combination includes the target search strategy corresponding to each of the multiple drones in the target drone cluster, and at least one target search strategy is a strategy of reciprocating from the boundary of the target search area to the center, and at least one target search strategy is a strategy of reciprocating from the center of the target search area to the boundary, and at least one target search strategy is a strategy of spiral trajectory search first outward and then inward.

[0088] Step S123: If the search status information indicates that the target object has a low probability of leaving the target search area, as in case (c) above, then a third strategy combination is determined. The third strategy combination includes the target search strategy corresponding to each of the multiple drones in the target drone cluster, and at least one target search strategy is a strategy of reciprocating from the boundary of the target search area to the center, at least one target search strategy is a strategy of reciprocating from the center of the target search area to the boundary, at least one target search strategy is a strategy of spiral trajectory search first outward and then inward, and at least one target search strategy is a strategy of spiral trajectory search first inward and then outward.

[0089] Step S124: If the search status information indicates that the target object has a very low probability of leaving the target search area, such as in case (d) above, then a fourth strategy combination is determined. The fourth strategy combination includes the target search strategy corresponding to each of the multiple drones in the target drone cluster, and at least one target search strategy belongs to the spiral trajectory search strategy of first going out and then in, and at least one target search strategy belongs to the spiral trajectory search strategy of first going in and then out.

[0090] It is understood that, in an alternative implementation, the strategy of searching a spiral trajectory from the outside in can include the following: First, the initial target point for the search can be determined, wherein the initial target point is the intersection of the boundary of the suspected area and the target line segment. The suspected area refers to the area where the target object may appear after the target time. The target line segment is the line connecting the initial distribution position of the target object in the target search area and the initial distribution position of the target drone cluster. Secondly, after the drones in the target drone cluster move to the initial target point, the drones are controlled to move with the initial distribution position of the target object in the target search area as the center, the radius of the suspected area as the initial radius and the radius gradually increasing, and the movement direction as counterclockwise. Then, after the drone moves to a distance of the preset maximum distance between itself and the initial distribution position of the target object in the target search area, the drone is controlled to move with the initial distribution position of the target object in the target search area as the center, the preset maximum distance as the initial radius and the radius gradually decreasing, and the movement direction as counterclockwise.

[0091] It is understood that, in an alternative implementation, the strategy of searching a spiral trajectory from the inside out may include the following: First, the initial target point for the search can be determined, wherein the initial target point is the intersection of the boundary of the suspected area and the target line segment. The suspected area refers to the area where the target object may appear after the target time. The target line segment is the line connecting the initial distribution position of the target object in the target search area and the initial distribution position of the target drone cluster. Secondly, after the drones in the target drone cluster move to the initial target point, the drones are controlled to move with the initial distribution position of the target object in the target search area as the center, the radius of the suspected area as the initial radius and the radius gradually decreasing, and the movement direction as counterclockwise. Then, after the drone moves to the initial distribution position of the target object in the target search area, the drone is controlled to move with the initial distribution position of the target object in the target search area as the center, 0 as the initial radius and the radius gradually increasing, and counterclockwise as the direction of movement.

[0092] It is understood that, in an alternative implementation, the strategy of reciprocating the search from the boundary of the target search area toward the center may include the following: First, the initial target point of the search can be determined. The initial target point is the point on the boundary of the sub-region where the target object is located, which is the sub-region included in the target search region, and is the point with the smallest distance from the initial distribution position of the target object. The multiple sub-regions are formed by dividing the target search region by the lines connecting the geometric center of the target search region to each vertex. Secondly, after the drones in the target drone cluster move to the initial target point, the drones are controlled to move along multiple trajectories parallel to the boundary of the sub-region where the target object is located. Each trajectory is located within the sub-region where the target object is located, and the distance between the preceding trajectory and the geometric center of the target search area is greater than the distance between the following trajectory and the geometric center of the target search area.

[0093] It is understood that, in an alternative implementation, the strategy of searching back and forth from the center of the target search region toward the boundary may include the following: First, the initial target point for the search can be determined, wherein the initial target point belongs to the geometric center of the target search area; Secondly, after a drone in the target drone cluster moves to the initial target point, it can be controlled to move along multiple trajectories parallel to the boundary of the sub-region where the target object is located. Each trajectory is located within the sub-region where the target object is located, and the distance between the preceding trajectory and the geometric center of the target search area is less than the distance between the following trajectory and the geometric center of the target search area.

[0094] To facilitate understanding of the strategy of searching for a spiral trajectory from the outside in, we combine... Figure 7 This provides a specific implementation method: A1. Determine the initial target point. First, based on the ground target... The velocity of its movement, relative to its initial position With the center of the circle, Define a circular area of ​​suspected targets with a radius of 1. Then, delineate the area using line segments 1 and 2. The point where it intersects with the boundary of the aforementioned circular suspected target area is denoted as point. And use it as the initial target point for the drone search.

[0095] A2, outward spiral search. At the start of the search mission, the drone moves along the line segment... To the initial target point Fly to the initial target point Then, the drone changed its flight attitude and began flying along an outward spiral trajectory. The outward spiral trajectory was aimed at the target. initial position Centered on, with an initial radius of The radius then increases uniformly with the flight distance, the spiral trajectory is counterclockwise, and the spacing is... The equation for the outward spiral trajectory can be expressed as: (1) in, Location of the drone. This refers to the number of revolutions the drone makes along its outward spiral trajectory. By number of laps for drones Flight time.

[0096] A3, inward spiral search. When the drone approaches the target... initial position The distance is greater than or equal to At that time, the drone ends its outward spiral trajectory flight, changes its flight attitude, and begins to fly along an inward spiral trajectory. Can be determined by the target initial position and its mission area The distance to the nearest edge is determined. The inward spiral trajectory is towards the target. initial position Centered on, with an initial radius of The radius then decreases uniformly with the flight distance, the spiral trajectory is counterclockwise, and the spacing is... The equation for the inward spiral trajectory can be expressed as: (2) in, Location of the drone. This refers to the number of revolutions the drone makes along its outward spiral trajectory. By number of laps for drones Flight time.

[0097] Since drones cannot perform spiral trajectory movements in real-world scenarios, points on this spiral trajectory are uniformly sampled and used as navigation points for the drone's movement.

[0098] A4, continuously executes the search task. When the drone reaches the target... initial position At that time, the initial radius Set to 0, and then fly along the spiral trajectory in steps A2 and A3 sequentially until the mission is completed. Spiral trajectory spacing It must be less than or equal to the drone's reconnaissance radius. This is twice the size of the previous one, ensuring that no search area is missed when the drone flies along a spiral trajectory.

[0099] To facilitate understanding the strategy of searching for a spiral trajectory from the inside out, we combine... Figure 8 This provides a specific implementation method: B1, Determine the initial target point. Similar to the spiral search method (outside to inside), first determine the ground target... The velocity of its movement, relative to its initial position With the center of the circle, Define a circular area of ​​suspected targets with a radius of 1. Then, delineate the area using line segments 1 and 2. The point where it intersects with the boundary of the aforementioned circular suspected target area is denoted as point. And use it as the initial target point for the drone search.

[0100] B2, inward spiral search. At the start of the search mission, the drone moves along the line segment... To the initial target point Fly to the initial target point Then, the drone changed its flight attitude, reducing its initial radius. Set as It begins to fly along the inward spiral trajectory shown in equation (2).

[0101] B3, outward spiral search. When the drone reaches the target... initial position At that time, the initial radius Set to 0, and fly along the outward spiral trajectory shown in equation (1).

[0102] B4, continuously executes the search task. When the drone approaches the target... initial position The distance is greater than or equal to At that time, the drone changed its flight attitude and set the initial radius to It then repeats the spiral trajectory from steps B2 and B3 sequentially until the mission is complete. Spiral trajectory spacing It must be less than or equal to the drone's reconnaissance radius. This is twice the size of the previous one, ensuring that no search area is missed when the drone flies along a spiral trajectory.

[0103] To facilitate understanding of the strategy of reciprocating the search from the boundary of the target search region towards the center, combined with Figure 9 This provides a specific implementation method: C1, determine the initial target point. Establish the geometric center. With the mission area The lines connecting the vertices will define the task area. Divided into multiple triangular sub-task areas Find the target initial position Sub-task area Find the target initial position At the distance of the mission area The nearest projection point on the edge This will be used as the initial target point for the drone search.

[0104] C2, at the start of the search mission, the drone travels along the line segment To the initial target point Fly to the target point Then, the drone changed its flight attitude and remained in the sub-mission area. Inner edge parallel to The bottom line segment moves in a reciprocating zigzag pattern as shown in Figure 9, originating from the sub-task area. The bottom edge gradually moves towards the polygonal task area. geometric center Perform a search and define the polygonal task area. geometric center As the objective point for mission completion The spacing between adjacent parallel lines must be less than or equal to the drone's reconnaissance radius. Twice the size of the target area to ensure no search area is missed when the drone flies along the spiral trajectory. When the drone reaches the mission completion target point... At this point, the reciprocating search from the region boundary to the region center ends.

[0105] To facilitate understanding of the strategy of reciprocating the search from the center to the boundary of the target search region, combined with Figure 10 This provides a specific implementation method: D1, determine the initial target point. Define the polygonal task area. geometric center As the initial target point for the drone search, let it be .

[0106] D2, at the start of the search mission, the drone along the line segment To the initial target point Fly to the target point Then, the drone changed its flight attitude and remained in the sub-mission area. Inner edge parallel to The bottom line segment is constructed as follows Figure 10 The reciprocating polygonal flight shown is composed of a polygonal mission area. geometric center Gradually moving towards sub-task areas Search along the bottom edge and find the target. initial position In the sub-task area The projection point of the bottom edge is used as the new target point. The spacing between adjacent parallel lines must be less than or equal to the drone's reconnaissance radius. This is doubled to ensure that no search area is missed when the drone flies along a spiral trajectory. When the drone reaches the point... At this point, the reciprocating search from the region center to the region boundary ends.

[0107] For the four search strategies and four distribution scenarios of target objects mentioned above, a specific application example of strategy allocation is provided, taking a drone swarm consisting of four drones as an example: For scenario (a): Four drones are used to perform the search mission. Drone A searches the sub-mission area. , clockwise adjacent areas Execute strategies (3) and (4) in sequence, and then proceed clockwise to the subsequent subtask areas. , Execute strategies (3) and (4) sequentially. UAV B targets the sub-task area. Execute strategy (4) and strategy (3) in sequence, and then proceed clockwise to the subsequent sub-task areas. Perform the same operation. Drone C to the sub-mission area. , Counterclockwise adjacent regions Execute strategies (3) and (4) in sequence, and then proceed counterclockwise to the subsequent subtask areas. , Execute strategies (3) and (4) sequentially. The UAV D pairs with the sub-task area. Execute strategy (4) and strategy (3) in sequence, and then proceed counterclockwise to the subsequent subtask areas. Perform the same operation.

[0108] For scenario (b): Four UAVs are used to perform the search mission. UAV A searches the sub-mission area. , clockwise adjacent areas Execute strategies (3) and (4) in sequence, and then proceed clockwise to the subsequent subtask areas. , Perform the same operation. Drone B to the sub-mission area. , Counterclockwise adjacent regions Execute strategies (3) and (4) in sequence, and then proceed counterclockwise to the subsequent subtask areas. , Perform the same operation. Drone C executes strategy (1) with a clockwise spiral trajectory. Drone D executes strategy (1) with a counterclockwise spiral trajectory.

[0109] For scenario (c): Four drones are used to perform the search mission. Drone A searches the sub-mission area. , clockwise adjacent areas Execute strategies (3) and (4) in sequence, and then proceed clockwise to the subsequent subtask areas. Perform the same operation. Drone B executes strategy (1) with a clockwise spiral trajectory. Drone C executes strategy (1) with a counterclockwise spiral trajectory. Drone D executes strategy (2) with a clockwise spiral trajectory.

[0110] For scenario (d): Four UAVs are used to perform the search mission. UAV A follows a clockwise spiral trajectory using strategy (1). UAV B follows a counterclockwise spiral trajectory using strategy (1). UAV C follows a clockwise spiral trajectory using strategy (2). UAV D follows a counterclockwise spiral trajectory using strategy (2).

[0111] Among them, strategy (1) is a spiral trajectory search strategy that searches outwards and then inwards. Strategy (2) is a spiral trajectory search strategy that searches inwards and then outwards. Strategy (3) is a reciprocating search strategy that searches from the boundary of the target search area towards the center. Strategy (4) is a reciprocating search strategy that searches from the center of the target search area towards the boundary.

[0112] Combination Figure 11 This application also provides a multi-UAV dynamic target search device applicable to the aforementioned electronic equipment. The multi-UAV dynamic target search device may include a search state determination module, a search strategy determination module, and a search strategy allocation module.

[0113] The search status determination module is used to determine the search status information of the target object based on its distribution within the target search area. The search status information characterizes the probability that the target object will leave the target search area. In this embodiment, the search status determination module can be used to perform... Figure 2 The relevant content regarding the search status determination module in step S110 shown can be found in the previous description of step S110.

[0114] The search strategy determination module is used to determine, based on the search status information, the target search strategy corresponding to each of the multiple drones included in the target drone cluster, wherein the target search strategy reflects the flight trajectory of the corresponding drone in the target search area. In this embodiment, the search strategy determination module can be used to execute... Figure 2 The relevant content regarding the search strategy determination module in step S120 shown can be found in the previous description of step S120.

[0115] The search strategy allocation module is used to assign each target search strategy to a corresponding UAV, so that each UAV executes the corresponding target search strategy to search for the target object. In this embodiment, the search strategy allocation module can be used to execute... Figure 2 The relevant content regarding the search strategy allocation module in step S130 shown can be found in the previous description of step S130.

[0116] In this embodiment of the application, corresponding to the above-described multi-UAV dynamic target search method applied to the electronic device, a computer-readable storage medium is also provided. This computer-readable storage medium stores a computer program, which executes the various steps of the multi-UAV dynamic target search method when it runs. The steps executed by the aforementioned computer program are not described in detail here, but can be found in the preceding explanation of the multi-UAV dynamic target search method.

[0117] In summary, the multi-UAV dynamic target search method, apparatus, device, and medium provided in this application first determine the search status information of the target object based on its distribution within the target search area; second, based on the search status information, determine the target search strategy for each UAV in the target UAV cluster; and then, assign each target search strategy to its corresponding UAV, enabling each UAV to execute the corresponding target search strategy and thus search for the target object. Based on the above, since the search status information characterizes the probability of the target object leaving the target search area, and the UAV's target search strategy is determined based on the search status information, there is an adaptability between the target search strategy and the probability of the target object leaving the target search area. This can, to some extent, improve the problem of search failure caused by the target object potentially leaving the target search area, thereby improving the relatively low reliability of UAV dynamic target search in the prior art.

[0118] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus and method embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0119] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0120] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, electronic device, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks. It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. In the absence of further restrictions, an element defined by the phrase "comprising a..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0121] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for dynamic target search involving multiple unmanned aerial vehicles (UAVs), characterized in that, include: Based on the distribution of the target object in the target search area, the search status information of the target object is determined, wherein the search status information is used to characterize the probability that the target object will leave the target search area; Based on the search status information, a target search strategy is determined for each of the multiple drones in the target drone cluster, wherein the target search strategy is used to reflect the flight trajectory of the corresponding drone in the target search area. Each target search strategy is assigned to a corresponding UAV, so that each UAV executes the corresponding target search strategy to search for the target object.

2. The multi-UAV dynamic target search method according to claim 1, characterized in that, The step of determining the search status information of the target object based on its distribution in the target search area includes: Based on the initial search area where the target object to be searched is located, the target search area is determined, wherein the target search area belongs to a convex polygon region; Based on the distribution of the target object in the target search area, the search status information of the target object is determined.

3. The multi-UAV dynamic target search method according to claim 2, characterized in that, The step of determining the target search area based on the initial search area where the target object is located includes: Determine whether the initial search area containing the target object to be searched belongs to a convex polygon region; If the initial search region is a convex polygon region, then the initial search region is determined as the target search region; If the initial search region does not belong to the convex polygon region, then the initial search region is segmented to form a target search region that belongs to the convex polygon region.

4. The multi-UAV dynamic target search method according to claim 3, characterized in that, The step of segmenting the initial search region to form a target search region belonging to the convex polygon region if the initial search region does not belong to the convex polygon region includes: If the initial search region does not belong to the convex polygon region, then among the vertices of the initial search region, the concave point that is closest to the initial distribution position of the target object in the target search region is determined, and this concave point is taken as the first vertex. Then, starting from the first vertex, the second vertex is determined in a clockwise direction, skipping one vertex. Based on the line connecting the first vertex and the second vertex, the initial search region is divided into a first segmentation region and a second segmentation region; The regions where the target objects are located in the first segmented region and the second segmented region are determined as new initial search regions; Determine whether the new initial search region belongs to a convex polygon region; If the new initial search region is a convex polygon region, then the new initial search region is determined as the target search region; If the new initial search region does not belong to the convex polygon region, then the new initial search region is segmented to form a target search region that belongs to the convex polygon region.

5. The multi-UAV dynamic target search method according to claim 2, characterized in that, The step of determining the search status information of the target object based on its distribution in the target search area includes: Based on the initial distribution position and movement speed of the target object in the target search area, and the initial distribution position and movement speed of the target drone cluster, a suspected area of ​​the target object is determined, wherein the suspected area refers to the area where the target object may appear after the target time. Based on the radius of the suspected area, the minimum distance between the initial distribution position of the target object and the boundary of the target search area, and the distance between the initial distribution position of the target object and the geometric center of the target search area, the search status information of the target object is determined.

6. The multi-UAV dynamic target search method according to claim 5, characterized in that, The step of determining the suspected area of ​​the target object based on the initial distribution position and movement speed of the target object in the target search area, and the initial distribution position and movement speed of the target drone cluster, includes: Based on the initial distribution position and movement speed of the target object in the target search area, and the initial distribution position and movement speed of the target drone cluster, the meeting time of the target object and the target drone cluster traveling towards each other along the line connecting the initial distribution positions of the target object and the target drone cluster is determined. Based on the encounter time and the moving speed of the target drone cluster, the moving distance of the target drone cluster is determined; Based on the distance between the initial distribution location of the target drone cluster and the initial distribution location of the target object, and the movement distance, the suspected area of ​​the target object is determined.

7. The multi-UAV dynamic target search method according to claim 5, characterized in that, The step of determining the search status information of the target object based on the radius of the suspected region, the minimum distance between the initial distribution position of the target object and the boundary of the target search region, and the distance between the initial distribution position of the target object and the geometric center of the target search region includes: If the minimum distance between the initial distribution location of the target object and the boundary of the target search area is less than the radius of the suspected area, then search status information is determined to characterize that the target object has a very high probability of leaving the target search area; If the minimum distance between the initial distribution position of the target object and the boundary of the target search area is greater than the radius of the suspected area, the distance between the initial distribution position of the target object and the geometric center of the target search area is greater than the radius of the suspected area, and the minimum distance between the initial distribution position of the target object and the boundary of the target search area is less than the distance between the initial distribution position of the target object and the geometric center of the target search area, then search state information is determined to characterize that the target object has a high probability of leaving the target search area; If the minimum distance between the initial distribution position of the target object and the boundary of the target search area is greater than the radius of the suspected area, the distance between the initial distribution position of the target object and the geometric center of the target search area is greater than the radius of the suspected area, and the minimum distance between the initial distribution position of the target object and the boundary of the target search area is greater than the distance between the initial distribution position of the target object and the geometric center of the target search area, then search state information is determined to characterize that the target object has a low probability of leaving the target search area; If the minimum distance between the initial distribution position of the target object and the boundary of the target search area is greater than the radius of the suspected area, and the distance between the initial distribution position of the target object and the geometric center of the target search area is less than the radius of the suspected area, then search status information is determined to characterize that the target object has a very low probability of leaving the target search area.

8. The multi-UAV dynamic target search method according to any one of claims 1-7, characterized in that, The step of determining the target search strategy for each drone in the target drone cluster based on the search status information includes: If the search status information indicates that the target object has a high probability of leaving the target search area, then a first strategy combination is determined, wherein the first strategy combination includes the target search strategy corresponding to each of the multiple drones included in the target drone cluster, and at least one target search strategy is a strategy of reciprocating from the boundary of the target search area to the center, and at least one target search strategy is a strategy of reciprocating from the center of the target search area to the boundary. If the search status information indicates that the target object has a high probability of leaving the target search area, then a second strategy combination is determined. The second strategy combination includes the target search strategy corresponding to each of the multiple drones in the target drone cluster. At least one target search strategy is a strategy of reciprocating from the boundary of the target search area to the center, at least one target search strategy is a strategy of reciprocating from the center of the target search area to the boundary, and at least one target search strategy is a strategy of spiral trajectory search first outward and then inward. If the search status information indicates that the target object has a low probability of leaving the target search area, then a third strategy combination is determined. The third strategy combination includes the target search strategy corresponding to each of the multiple drones in the target drone cluster. At least one target search strategy is a strategy of reciprocating from the boundary of the target search area to the center, at least one target search strategy is a strategy of reciprocating from the center of the target search area to the boundary, at least one target search strategy is a strategy of spiral trajectory search first outward and then inward, and at least one target search strategy is a strategy of spiral trajectory search first inward and then outward. If the search status information indicates that the target object has a very low probability of leaving the target search area, then a fourth strategy combination is determined. The fourth strategy combination includes the target search strategy corresponding to each of the multiple drones in the target drone cluster, and at least one target search strategy belongs to the spiral trajectory search strategy of first going out and then in, and at least one target search strategy belongs to the spiral trajectory search strategy of first going in and then out.

9. The multi-UAV dynamic target search method according to claim 8, characterized in that, The strategy of searching a spiral trajectory from the outside in includes: The initial target point for the search is determined, wherein the initial target point is the intersection of the boundary of the suspected area and the target line segment. The suspected area refers to the area where the target object may appear after the target time. The target line segment is the line connecting the initial distribution position of the target object in the target search area and the initial distribution position of the target drone cluster. After a drone in the target drone cluster moves to the initial target point, the drone is controlled to move with the initial distribution position of the target object in the target search area as the center, the radius of the suspected area as the initial radius and the radius gradually increasing, and the movement direction as counterclockwise. After the drone moves to a distance of a preset maximum distance from the initial distribution position of the target object in the target search area, the drone is controlled to move in a counter-clockwise direction, with the initial distribution position of the target object in the target search area as the center, the preset maximum distance as the initial radius and the radius gradually decreasing.

10. The multi-UAV dynamic target search method according to claim 8, characterized in that, The strategy of searching a spiral trajectory from the inside out includes: The initial target point for the search is determined, wherein the initial target point is the intersection of the boundary of the suspected area and the target line segment. The suspected area refers to the area where the target object may appear after the target time. The target line segment is the line connecting the initial distribution position of the target object in the target search area and the initial distribution position of the target drone cluster. After a drone in the target drone cluster moves to the initial target point, the drone is controlled to move with the initial distribution position of the target object in the target search area as the center, the radius of the suspected area as the initial radius and the radius gradually decreasing, and the movement direction as counterclockwise. After the UAV moves to the initial distribution position of the target object in the target search area, the UAV is controlled to move with the initial distribution position of the target object in the target search area as the center, 0 as the initial radius and the radius gradually increasing, and counterclockwise as the direction of movement.

11. The multi-UAV dynamic target search method according to claim 8, characterized in that, The strategy of reciprocating the search from the boundary of the target search region towards the center includes: An initial target point is determined, wherein the initial target point is the point on the boundary of the sub-region where the target object is located that is the smallest in distance from the initial distribution position of the target object among the multiple sub-regions included in the target search region. The multiple sub-regions are formed by dividing the target search region by lines connecting the geometric center of the target search region to each vertex. After a drone in the target drone cluster moves to the initial target point, the drone is controlled to move along multiple trajectories parallel to the boundary of the sub-region where the target object is located. Each trajectory is located within the sub-region where the target object is located, and the distance between the preceding trajectory and the geometric center of the target search area is greater than the distance between the following trajectory and the geometric center of the target search area.

12. The multi-UAV dynamic target search method according to claim 8, characterized in that, The strategy of reciprocating the search from the center to the boundary of the target search region includes: An initial target point for the search is determined, wherein the initial target point belongs to the geometric center of the target search area; After a drone in the target drone cluster moves to the initial target point, the drone is controlled to move along multiple trajectories parallel to the boundary of the sub-region where the target object is located. Each trajectory is located within the sub-region where the target object is located, and the distance between the preceding trajectory and the geometric center of the target search area is less than the distance between the following trajectory and the geometric center of the target search area.

13. A multi-UAV dynamic target search device, characterized in that, include: The search status determination module is used to determine the search status information of the target object based on the distribution of the target object in the target search area, wherein the search status information is used to characterize the probability that the target object will leave the target search area. The search strategy determination module is used to determine the target search strategy for each drone in the target drone cluster based on the search status information, wherein the target search strategy is used to reflect the flight trajectory of the corresponding drone in the target search area. The search strategy allocation module is used to allocate each target search strategy to the corresponding UAV, so that each UAV executes the corresponding target search strategy to search for the target object.

14. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor connected to the memory is used to execute the computer program stored in the memory to implement the multi-UAV dynamic target search method according to any one of claims 1-12.

15. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, performs the multi-UAV dynamic target search method according to any one of claims 1-12.

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