This paper addresses a cooperative search problem where a team of unmanned aerial vehicles (UAVs) seeks to reduce uncertainty in an unknown environment. The gird-based representation of search environment is established, and a UAV dynamic model and a predictive model of UAV systems are presented.Taking into account the practical tactical requirements, an area re-enter model is formulated, considering some maneuverability constraints. The corresponding shortest re-enter path is formulated. We develop a cooperative search strategy based on “retractable” mechanism, which can enhance adaptability to unknown environments. We also propose a global information base to make full use of the real-time local environmental information
detected by the UAVs, and generate the search path on-line in a rolling style. Simulation results are presented to demonstrate the main feature of the proposed method.
DU Ji-yong1, ZHANG Feng-ming2, MAO Hong-bao3, YANG Ji1, ZHANG Chao1
. Area Re-entry for Multi-UAV Search in Unknown Environment[J]. Journal of Applied Sciences, 2013
, 31(3)
: 315
-320
.
DOI: 10.3969/j.issn.0255-8297.2013.03.015
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