Coordinated Control of UAVs for Mine Searching

Abstract

Mine search and rescue unmanned aerial vehicles (UAVs) can replace rescue personnel to quickly enter complex and dangerous post disaster sites, complete environmental detection and personnel search tasks. Cooperative control of UAVs is the key technology of underground search and rescue mobile communication network and blind area search. Starting from the special environment characteristics of the mine and the requirement of multiple UAVs cooperative control, this article studies the cooperative control method of multiple UAVs based on improved particle swarm optimization algorithm. Using improved A* algorithm, the shortest path of obstacle between two track points is planned. The shortest path is used as the input of the global objective function in the task allocation process, and the particle swarm structure corresponding to the coordination system is used to improve the particle swarm optimization task allocation and iterative optimization. The simulation results show that the algorithm can produce reasonable task assignment results and automatic obstacle avoidance route planning control for UAV while guaranteeing the computation speed and convergence performance.