Distributed Cooperative Search Control Method of Multiple UAVs for Moving Target
Joint Authors
Qi, Xiao-ming
Guan, Xu-ning
Ru, Chang-jian
Source
International Journal of Aerospace Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-06-17
Country of Publication
Egypt
No. of Pages
12
Abstract EN
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.
American Psychological Association (APA)
Ru, Chang-jian& Qi, Xiao-ming& Guan, Xu-ning. 2015. Distributed Cooperative Search Control Method of Multiple UAVs for Moving Target. International Journal of Aerospace Engineering،Vol. 2015, no. 2015, pp.1-12.
https://search.emarefa.net/detail/BIM-1064507
Modern Language Association (MLA)
Ru, Chang-jian…[et al.]. Distributed Cooperative Search Control Method of Multiple UAVs for Moving Target. International Journal of Aerospace Engineering No. 2015 (2015), pp.1-12.
https://search.emarefa.net/detail/BIM-1064507
American Medical Association (AMA)
Ru, Chang-jian& Qi, Xiao-ming& Guan, Xu-ning. Distributed Cooperative Search Control Method of Multiple UAVs for Moving Target. International Journal of Aerospace Engineering. 2015. Vol. 2015, no. 2015, pp.1-12.
https://search.emarefa.net/detail/BIM-1064507
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1064507