Abstract:

Multiple unmanned aerial vehicles (UAVs) wide area target searching is an important research area of cooperative control. To improve the coordinated ability of common search maps, an extended search map (ESM) approach based on digital hormone mechanism is proposed. Leading the hormone diffusion mechanism into renewal of search maps, this method builds a mixed information structure of digital hormone and target certainty. By using ESM, a receding horizon policy based real-time path planning method is presented. Simulation results demonstrate that the ESM provides better coordination ability than the common search map, and it is an effective approach for multiple UAVs wide area target searching.