To reduce the impact of uncertainties caused by unknown motion parameters on searching plan ofmoving targets and improve the\nefficiency of UAV�s searching, a novel distributedMulti-UAVs cooperative search control method for moving target is proposed in\nthis paper. Based on detection results of onboard sensors, target probability map is updated using Bayesian theory. A Gaussian\ndistribution of target transition probability density function is introduced to calculate prediction probability of moving target\nexistence, and then target probability map can be further updated in real-time. A performance index function combining with\ntarget cost, environment cost, and cooperative cost is constructed, and the cooperative searching problem can be transformed into\na central optimization problem. To improve computational efficiency, the distributed model predictive control method is presented,\nand thus the control command of each UAV can be obtained.The simulation results have verified that the proposed method can\navoid the blindness of UAV searching better and improve overall efficiency of the team effectively.
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