Collaborative search method for moving targets with multiple unmanned aerial vehicles considering the balance of search revenue
WEI Ling-yun
LUO Lin
ZHUANG Yu-feng
Abstract：Aiming at the problem of multi-moving target search in a specific area by unmanned aerial vehicle(UAV)clusters,a multi-UAV cooperative searching method based on search revenue balance is proposed,considering the flight constraints of UAV,detection probability and false alarm probability of sensors,and the detection characteristics of gimbal sweep photography.Taking the balance of short-term benefits,long-term benefits and coordination benefits of UAV clusters search as the core,a search infographic with high efficiency and dynamic update involving only the probability of target existence and environmental uncertainty is designed,and a mathematical programming model for multi-UAV collaborative search is established,and the model is solved based on the rolling planning architecture and path pruning strategy.The effectiveness of the proposed method is verified by a numerical example of collaborative search of typical UAV clusters.Numerical simulation results show that this method can search more targets and has less misjudgment times,and effec-tively improve the efficiency of multi-UAV collaborative search.Moreover,only the probability of target existence and environmental uncertainty are used to construct the search information map,which avoids tedious calculation and param-eter setting,and can effectively update the environmental information,effectively guide the UAV to capture more targets,and make the track decision of each UAV within seconds.
Keywords：unmanned aerial vehiclescollaborative searchrolling planninggimbal sweep photography
Publication Date：2025-02-28
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：10( 385-394 )