Search path planning of unmanned aerial vehicles based on game theory

The regional coverage and the search time are used as the evaluation index for search path planning of unmanned aerial vehicles (UAV) at present, which leads to the lack of utilization of the target behaviors. A game theory model, which takes both parties in the struggle as the players and uses the behavior of both parties as the strategy set, is established. By solving the Nash equilibrium of the model, the scanning algorithm for the search path planning is improved. Simulation results, which demonstrate that the improved algorithm can not only match the needs to completely cover the search area, but also improve the completion rates of UAV task, illustrate the effectiveness of the algorithm.