Cooperative area search algorithm for multi-UAVs in uncertainty environment

In order to study the impact of communication constraints on cooperative area search for multi-unmanned aerial vehicle (UAVs) in uncertainty environment, a novel method of multi-UAVs cooperative area search algorithm is presented, which is based on the thoughts of predictive and control. Firstly, the UAV dynamic model and the cooperative search model are established based on the behavior rules of multi-UAVs coo-perative search. Secondly, the impact of communication constraints on the multi-UAVs cooperative area search is analyzed. Combined with the predictive and control thoughts, multi-UAVs must consider both the current search cost and future search cost when they carry out the cooperative search mission to improve the cooperative search efficiency of multi-UAVs. The Monte Carlo method is employed to validate the impact of different communication distances and angles on the multi-UAVs cooperative area search. The simulation results show the rationality and validity of the multi-UAVs cooperative area search algorithm.