Cooperative Area Coverage Reconnaissance Method for Multi-UAV System

Abstract

Aiming to find a solution, the method of cooperative area coverage reconnaissance for Multi-UAV system is proposed by combining centralized preplanning with distributed partial online replanning. In the preplanning, grid disintegration is applied to divide the area to be reconnoitered into task sequence of nodes and fuzzy C-means clustering algorithm is applied to conduct space distribution of task nodes; the online partial replanning is that the left UAVs automatically complete the unfinished task of the failed UAV, using the membership matrix got by clustering algorithm as a unified standard, which ensures that so long as one UAV does not fail, the reconnaissance task can be normally carried on. The simulation results show that this method, simple yet with a high robustness, can effectively solve the problem of multi-UAV cooperative area coverage reconnaissance.