Study on fuzzy cognitive decision-making method for multiple UAVs cooperative search

Abstract

The searching decision-making method is the key factor affecting the efficiency of cooperative search for multiple Unmanned aerial vehicles (UAVs). Traditional searching decision-making method focuses on that how to make multiple UAVs cover the whole mission area cooperatively. These searching decision-making methods are based on probabilistic searching map and receding horizon control, and its flexibility to complex searching mission is limited. In this paper, according to the cognitive decision-making mode of human performing searching behavior, a cognitive control model with three layers structure for multi-UAVs cooperative search is presented. Based on this model and the fuzzy cluster idea, mission area is carried on cognitive match, reduction and division. Then, the assignment of mission area for cooperative searching is performed for each UAV using fuzzy cluster twice. On this basis, the receding horizon control approach is applied to realize the control of UAV searching. Finally, from two aspects, namely coverage mode of mission area and target searching ability, the performance of the fuzzy cognitive decision-making method for cooperative search proposed in this paper is analyzed and verified by the simulation experiments.