不确定环境下多无人机协同搜索算法研究

摘要

不确定环境下多无人机协同搜索是多无人机协同控制的一个重要研究内容.多架无人机同时对一个不确定区域进行搜索,目的在于获取搜索区域的信息,降低环境的不确定度,并尽可能发现隐藏在环境中的目标.针对这一问题,提出一种基于协同进化算法的多无人机协同区域搜索算法.首先,建立搜索概率图来描述搜索环境的不确定性,并使用贝叶斯准则更新搜索概率图,然后,使用协同进化算法,在线生成多UAV协同搜索的路径.仿真结果验证了算法的有效性.%Cooperative target searching of multiple Unmanned Aerial Vehicles ( UAVs) in uncertainty environment is an important research area in multi-VAV cooperative control. The objective of multi-UAV searching is to obtain the information of the searched area, decrease the uncertainty of this area and find the hidden targets as far as possible. An algorithm based on co-evolutionary algorithm (CEA) was proposed. To describe the uncertainty of the region, a Search Probability Map ( SPM) was established and the Bayes formula was used for updating it. Then, co-evolutionary genetic algorithm (CEGA) was used for generating the cooperative search path on-line. Simulation results demonstrated the effectiveness of the algorithm.