| Citation: | HOU Yueqi, LIANG Xiaolong, HE Lyulong, et al. Cooperative area search algorithm for UAV swarm in unknown environment[J]. Journal of Beijing University of Aeronautics and Astronautics, 2019, 45(2): 347-356. doi: 10.13700/j.bh.1001-5965.2018.0230(in Chinese)
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Aimed at the problem of cooperative search for UAV swarm in an unknown environment without prior information, a cooperative area search algorithm for UAV swarm with coverage rate as real-time search rewards is proposed. First, coverage distribution map (CDM) is established to describe the mission area, and the rapid update of CDM is realized by using Hadamard product. Then, the coverage rate is calculated based on CDM to describe the search results quantitatively. Considering UAV swarm as a control system, a predictive model of the system is established based on the distributed model predictive control theory, and the maximum increment of coverage rate in the predictive period is determined as a reward function. The optimal solution, as the optimal input of system, is obtained by differential evolution algorithm. Simulation results demonstrate that the proposed algorithm can complete the coverage and search of region effectively. In the event of emergencies, its area coverage rate is much higher than that of the parallel search method.
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