Research on Multiple UAV Cooperative Area Coverage Searching
PENG Hui, SHEN Lin-cheng, HUO Xiao-hua (School of Mechatronics and Automation, National University of Defense Technology, Changsha 410073, China)
Focusing on the problem of cooperatively searching a given area to detect objects of interest, using multiple heterogenous unmanned aerial vehicles (UAVs), the whole problem was divided into two sub-problems, which are cooperative mission area assignment and coverage route planning, to find optimal solution to the sub-problems respectively. The cost model of UAV’s mission execution was established and a new approach to UAV’s relative capabilities assessment was proposed using hierarchical fuzzy inference. The whole mission area was divided based on the results of UAV capabilities assessment and initial locations using polygon area decomposition, and the resulting areas were assigned among the UAVs. The optimal searching pattern was analyzed and a best searching route was given to cover the UAV mission area. Simulation results demonstrate the validity of the approach.
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