An Air-Ground Unmanned Swarm Collaborative Area Search Strategy Based on the Learning Wolf Pack Algorithm

Collaborative search by air-ground unmanned swarm, as a pivotal and efficient approach for intelligence gathering and disaster relief, highlights the critical role of search path planning in enhancing overall performance. Addressing the inefficiency resulting from insufficient collaboration between air and ground unmanned platforms in current research, this paper delves into the fundamental characteristics and challenges of collaborative search by air-ground unmanned swarm. This paper clarifies the objectives and constraints of path planning and introduces a method for collaborative search path planning based on the Learning Wolf Pack Algorithm (LWPA). This method initially constructs an optimization model that comprehensively considers area coverage, target detection probability, and search uncertainty. It integrates Distributed Model Predictive Control (DMPC) with the Distributed Constraint Optimization Problem (DCOP) framework, forming an architecture for real-time search path planning. To overcome the limitation of existing DCOP solution methods, which tend to get stuck in local optimal solutions, the LWPA employs a Q-learning mechanism for hierarchical learning and dynamically adjusts parameters to balance local refinement and global exploration. Experimental results demonstrate that this method offers significant advantages in improving search efficiency, coverage, and target detection rates, with an average area coverage of 99.28% and uncertainty as low as 0.86%. These results fully validate its effectiveness and superiority in search tasks in complex urban environments. Furthermore, tests on dynamic adaptability and scalability further verify the potential and value of this method in practical applications.