Target allocation in multi-UAV cooperative search with communication constraints

In order to study the impact of communication constraints on targets allocation in cooperative multi-UAV search, we present a novel method of targets allocation in multi-UAV cooperative search with communication constraints. First, a targets allocation model is established based on the UAV dynamic model and cooperative search model. Second, the impact of communication constraints such as range limitation, angle limitation and time delay on targets allocation is analyzed. Restrictions are made that the UAVs can only communicate in the range of communication distance and angle, and Monte Carlo method is employed to validate the impact of communication distance and angle on targets allocation, while the UAV state information compensation method based on state estimation is used to eliminate the impact of time delay. The simulation results show the rationality and validity of this targets allocation method in multi-UAV cooperative search with communication constraints.