Multi-UAVs Targets Search Based on Distributed Cooperative Heuristic Algorithm
Fanjie Kong, Yiming Nie, Chao Ge, Zheng Lian · 2022
In recent years, multi-agents cooperative algorithm has received extensive attention, and gradually applied to various agents such as unmanned aerial vehicle (UAV). This paper proposes a distributed cooperative heuristic (DCH) algorithm for the mission of multi-UAVs search multi-targets, aiming at the problem of cooperative search path planning for multi-UAVs in an environment with obstacles. The proposed method DCH is based on receding horizon optimization (RHO) strategy and cooperation-competition scheme. According to the change of environment, the prediction time-domain of RHO is changed, and RHO with variable step-ahead prediction is introduced. Moreover, the pigeons-inspired cooperation-competition (PICC) scheme for multi-UAVs is designed, including cooperation module and competition module. Through information interaction, multi-UAVs can expand their search horizons, and cooperate with each other to improve search efficiency. In addition, the environmental cognitive information map (ECIM) and value income function (VIF) is also reasonably improved. Several contrastive simulations demonstrate that compared with other existing approaches, the proposed algorithm uses less time and shows a better performance of target search.