| Citation: | ZHU Qian, XU Nuo, HUANG Bei, et al. Multi-UAV cooperative surveillance based on role switch strategy[J]. Journal of Beijing University of Aeronautics and Astronautics, 2021, 47(5): 928-938. doi: 10.13700/j.bh.1001-5965.2020.0070(in Chinese)
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With limited communication range and real-time information transmission via multihop communications, a novel multi-UAV cooperative surveillance method based on role switch strategy is proposed for searching unknown region and monitoring some hotspots. Firstly, considering history detection information and cooperative surveillance, a multi-UAV cooperative surveillance frame is implemented based on probabilistic sensor model. Secondly, four attributes are proposed to characterize differences among UAV alternatives in communication network containing ground station, and a novel UAVs role switch strategy is proposed based on UAV node importance evaluation to achieve tradeoff between surveillance mission and connectivity maintenance with improved Technique for Order Preferenceby Similarity to Ideal Solution (TOPSIS). Finally, considering collision avoidance, connectivity maintenance and UAV dynamics constraints, UAVs motion plan is optimized by distributed receding horizon control based on different UAV roles to achieve multi-UAV cooperative surveillance. Simulation results demonstrate the feasibility and effectiveness of the proposed methods in multi-UAV cooperative surveillance.
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