Multi-UAV Cooperative Moving Target Search Based on Improved Pigeon-Inspired Optimization

Aiming at the problem of multi-UAV cooperative moving target search, a cooperative search decision based on improved pigeon-inspired optimization is designed. Firstly, based on the independence of moving targets, a target probability information graph model with normal distribution is established. In order to improve the certainty of the presence of the target in the environment, the information graph of the certainty of the search environment is established. Secondly, the attractant and repulsive digital pheromone graphs are established to guide the UAV to fly to the unsearched area, reducing the probability of repeated search and improving the efficiency of collaborative target search. Based on the traditional pigeon-inspired optimization, it is improved by adding speed update and correction mechanism and elite generation mechanism. Then, combining with the existence probability information of the target in the environment and the detection information of the UAV searching for the target, the improved pigeon-inspired optimization is used to determine the optimal searching flight path of the UAV. Finally, the feasibility and effectiveness of the improved pigeon-inspired optimization for the collaborative search of moving targets are verified by setting different search flight step sizes and using different search algorithms in simulation experiments.