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


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Distributed Cooperative Search Control Method of Multiple UAVs for Moving Target


    Beteiligte:
    Chang-jian Ru (Autor:in) / Xiao-ming Qi (Autor:in) / Xu-ning Guan (Autor:in)


    Erscheinungsdatum :

    2015




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Unbekannt




    Fast search method for moving targets using multiple UAVs cooperative searching

    Tian, Weiyong / Liu, Li / Wang, Qiusheng | IEEE | 2022



    Cooperative control of multiple UAVs for moving source seeking

    Zhu, Senqiang / Wang, Danwei / Low, Chang Boon | IEEE | 2013


    Autonomous Ground Target Tracking by Multiple Cooperative UAVs

    Sinha, A. / Kirubarajan, T. / Bar-Shalom, Y. | IEEE | 2005


    Autonomous ground target tracking by multiple cooperative UAVs

    Sinha, A. / Kirubarajan, T. / Bar-Shalom, Y. | Tema Archiv | 2005