Research on Improved Algorithm of UAV Swarm Target Search Strategy Based on Freshness and Target Density
Yumin Wang, Jinhao Xie, Wenqi Zhang, Yuan Yao, Gang Yang · 2023
In an unfamiliar environment, preliminary scans conducted by large UAVs yield multiple potential target locations. These encompass both accurately identified targets and those misjudged, as well as undetected or mistakenly identified ones. In light of this scenario, we present an innovative search algorithm that capitalizes on target probability and freshness information. This algorithm takes into account both the update process for the freshness information graph and the update mechanism for target probability. It involves the coordinated movement of a UAV swarm, allowing for continuous updates to the freshness map and target probability map. These maps are then merged through seamless communication between UAVs. Ultimately, employing dynamic planning techniques, the UAV swarm is able to conduct an efficient map search.