基于随机漫游模型的协同搜索力最优分配方法

摘要

Under the background of Multi-UAVs cooperative area search task, in this paper, search theory and random pro-gramming are introduced to formation cooperative search analysis. Then, the models of the environment, the UAVs and the sensors are built. And aiming at solving the “call” search problem after the target lost, the model of random tours has been built as well. By analysis of the optimal allocation of cooperative search capability, it is considered of a problem of linear pro-gramming, and an approach based on recursion has been proposed to solve this problem. In the end, after the simulation, the model of random tours has been proved to be reasonable, and the approach proposed in this paper is checked effectively.%针对多平台协同搜索的最优搜索问题，以多无人机区域搜索任务为背景，将搜索论和随机规划引入到编队协同搜索中，建立了环境模型、无人机模型、传感器模型；为了解决目标丢失后的“应召”搜索问题，建立了目标的随机漫游模型；通过对搜索力最优分配问题的分析，认为其实质为一类线性规划问题，提出了一种基于递归原理的解算方法；最后，通过仿真计算，证明了该随机漫游模型的合理性，并验证了所提算法的有效性。