Cooperative Search and Path Planning of Multi-unmanned Aerial Vehicles in Uncertain Environment Based on Bayes Theory

Abstract

The multi-UAVs (Unmanned Aerial Vehicles) cooperative search could reduce uncertainty of environment and get the target's information more accurately through covering the target area as far as possible. In order to solve the question of cooperative searching target in a uncertain environment, according to the basic principles of muti-UAVs' cooperative search, we built the uncertain environmental information model. Then considering the uncertainty about the measure of sensor and the environment of UAV, we give the decision algorithm of path searching and planning based on Bayes standards. This arithmetic adopts the optimal search algorithm and designs the award function, according to the physical properties of the UAV, so as to ensure that the UAV formation could search unknown environment as far as possible and avoid the known environment and prohibited areas completely. Finally, the simulation proves the effectiveness and robustness of algorithm.