| Citation: | WANG Ning, LI Zhe, LIANG Xiaolong, et al. Cooperative search algorithm for UAV swarm based on search intention interaction[J]. Journal of Beijing University of Aeronautics and Astronautics, 2022, 48(3): 454-463. doi: 10.13700/j.bh.1001-5965.2020.0602(in Chinese)
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Aimed at the cooperative search problem of UAV swarm without prior information, a cooperative search algorithm of UAV swarm is proposed, which is guided by coverage rate and constrained by safe distance, communication distance, yaw angle adjustment and search boundary. The task area is described by establishing the environmental map matrix, and the environmental map update operator is further defined to realize the rapid update of the environmental map in the search process. The return function of swarm cooperative search task is designed, and particle swarm optimization algorithm is used to solve the problem in order to obtain the optimal decision of each UAV under the known environment map, namely the decision intention. Each UAV makes decisions again based on acquiring the decision-making intentions of other members to achieve cooperative decision-making. Two cooperative decision-making schemes, centralized and distributed, are proposed for swarms with different scales. The simulation results show that the proposed algorithm can effectively search the irregular task area with unknown threat, and the coverage is much higher than that of the individual decision method without cooperative decision.
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