地面运动目标的多UAV协同搜索方法

The search of ground moving targets is an important research content of unmanned aerial vehicle (UAV) route planning. Because of the motion of the target, the search ability of the traditional vertical scanning method is insufficient. In order to improve the effect of moving target search, an abreast tracing back search method of multiple UAVs is proposed and a collaborative search mathematical model is built taking the back search speed and propulsion distance as parameters. And the search efficiency must be weighed between the two indexes: search speed and discovery probability. By optimizing the model parameters, the optimal search scheme is obtained under different application scenarios. The simulation results show that compared with the vertical scanning search method the optimization strategy allows the target to move faster under the same discovery probability and the optimization strategy has higher discovery probability under the same target moving speed. For the flight condition example, the probability of the target detection of the optimization strategy is about 15 percentage points higher than that of the vertical scanning method.