Cooperative Target Search of UAV Swarm with Communication Distance Constraint

Ning Wang, Zhe Li, Xiaolong Liang, Ying Li and Feihu Zhao

Mathematical Problems in Engineering, 2021, vol. 2021, 1-14

Abstract:

This paper proposes a cooperative search algorithm to enable swarms of unmanned aerial vehicles (UAVs) to capture moving targets. It is based on prior information and target probability constrained by inter-UAV distance for safety and communication. First, a rasterized environmental cognitive map is created to characterize the task area. Second, based on Bayesian theory, the posterior probability of a target’s existence is updated using UAV detection information. Third, the predicted probability distribution of the dynamic time-sensitive target is obtained by calculating the target transition probability. Fourth, a customized information interaction mechanism switches the interaction strategy and content according to the communication distance to produce cooperative decision-making in the UAV swarm. Finally, rolling-time domain optimization generates interactive information, so interactive behavior and autonomous decision-making among the swarm members are realized. Simulation results showed that the proposed algorithm can effectively complete a cooperative moving-target search when constrained by communication distance yet still cooperate effectively in unexpected situations such as a fire.

Date: 2021
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:3794329

DOI: 10.1155/2021/3794329

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