Cooperative Search and Path Planning of Multi-Unmanned Aerial Vehicles in Uncertain Environment Based on Bayes Theory
Xia Chen, Jing Zhang, Zhen Yu Lu · Applied Mechanics and Materials · 2013
In order to solve the question of cooperative searching target in uncertain environment, this paper comes up with a algorithm. Firstly it analysis the uncertainty about measure of UAV sensors and environment, we built the information model of uncertain environment. Then, considering about UAV physical properties and optimal search theory, it designs the award function, gives the path planning algorithm of cooperative searching based on the Bayes theory. The algorithm ensures that the UAV formation could search unknown environment as far as possible, evade the known environment and avoid no-fly zone completely. Finally, the simulation proves the rationality and effectiveness of algorithm.