An Cooperative Search Algorithm for Multi-UAV with Time-Delays
Sheng Cui · Electronics Optics & Control · 2010
Multiple Unmanned Aerial Vehicles (UAV) cooperative searching is an important research area in cooperative control.There are two important problems in this area: the time delay and the decentralized computation environment.It is necessary to improve the search efficiency of each UAV while avoiding collision.This paper presents an approach based on Decentralized Model Predictive Control ( DMPC) theory.Appropriate buffer circles are introduced to arrange different UAVs to plan for different time ranges.It solves the two problems by using ahead planning.By using this method the searching problem is decoupled completely.This distributed planning approach for cooperative search is illustrated by computer simulation.