Abstract:

When unmanned aerial vehicles (UAV) search mobile targets，the coverage flight path planning is useless due to the uncertainty of targets moving states. The basic principle of coverage flight path planning is investigated，and an algorithm of moving target with vertical line search pattern (MTVL) is presented, whose complete condition is also proved. Some improvements are given, and an algorithm of moving target with slanting line search pattern (MTSL) is presented by controling the angle of moving directions and search boundaries. The proofs are provided for the completing condition of search task，and simulations are demonstrated. Simulation results show that both proposed algorithms are available for resolving completing search missions to a given area when the speed ratio between UAV and targets and numbers of UAV are guaranteed. Compared with MTVL, MTSL can complete missions with less velocity and vehicle numbers.