Multi-UAVs Cooperative Target Search with Communication Constraint
Yincheng Zhang, Bo Zhang, Te Ma, Jie Hu · 2023
This paper studies the problem of multi-unmanned aerial vejicles (multi-UAVs) cooperative search under communication constraints. We propose a distributed collaborative search method. In this method, we bulid target probability map for each UAV, and update the maps according to the Bayesian formula and the consensus algorithm. Based on the Shannon entropy and the target probability map, we design the objective function to guide UAVs fly to unexplored areas while keep the consistence of the communication network. Every UAV act as an independent agent, uses distributed model predictive control (DMPC) algorithm and particle swarm optimization (PSO) algorithm to achieve the trajectory optimazation. Finally, we made several simulation experiments to verify the feasibility of our method.