A Multi-UAV Cooperative Searching Method Based on Differential Evolution
Caibei Ma, Xiaozhou Zhu, Shengyang Liu, Jianjun Gui, Wen Yao · 2022 34th Chinese Control and Decision Conference (CCDC) · 2022
Cooperative search of multiple UAVs in uncertain environments is a hotspot of cooperative control of multiple UAVs. The purpose of multi-UAVs cooperative search is to obtain the information of the search area, reduce the uncertainty of the environment, and find the hidden target in the environment as much as possible. The searching efficiency of the traditional methods is low, the linearity of the fitness function makes the algorithm easy to converge locally. To solve this problem, a multi-UAV cooperative region search algorithm based the differential evolution algorithm is proposed. Firstly, the searching probability map is established to describe the uncertainty of the search environment. Then, the cooperative searching path of multi-UAVs is generated by the proposed algorithm. Finally, the simulation results verify the effectiveness of the method that the strategy obtain a better coverage of the high-value area.