An multi-UAV cooperative regional search method based on the track elimination strategy and policy iteration algorithm

Abstract

Multi-UAV cooperative regional search is widely used in military and civil, such as search, rescue, patrol, monitoring, and environmental survey. It is an open topic to enhance the efficiency of target search. The paper proposes a probability calculation method based on UAV track elimination strategy and policy iteration on a target region without obstacle to improve the efficiency of UAV cooperative search based on prior information. The track elimination strategy is measured by the track of the UAV and the prior information, which include detectivity of sensor as well as heat power of target region. Then heat power on the track of a single UAV is refreshed, and the track is dynamically planed by policy iteration algorithm. On the basis of the method, the tracks of all UAVs are calculated one by one with appropriate order. Finally, the effectiveness of the algorithm is verified by simulation.

Keywords

• multi-uav cooperative regional search|prior information|track elimination strategy|policy iteration|dynamically programming