Cooperative Searching Strategy For Multiple Unmanned Aerial Vehicles Based On Modified Probability Map

Cooperative search of multiple unmanned aerial vehicles (UAV) will be the mainmeasure to get target information from battlefield. This dissertation studies theenvironment model, the rules of UAV transfer and multi-UAVs cooperative searchingmodels based on Agent in the background of target searching. The contents of thedissertation are as follows:(1) The multi-UAVs cooperative searching problem was analyzed.Formulation on the multi-UAVs cooperative searching problem is achieved bythorough analysis on the mission process. The basic characteristics and factors of themulti-UAVs cooperative searching problem were analyzed, which are the basics ofmulti-UAVs cooperative strategy and multi-UAVs cooperative searching models.(2) A modified probability map based cooperative searching strategy formulti-UAVs was presented.Aimed at the characteristics of the multi-UAVs cooperative searching problem, themodified probability map based cooperative searching strategy was discussed in detail.Based on the existing algorithms, the cooperative strategy was divided into three keyparts, which are probability map initialization, probability map updating and the rules ofUAV transfer.(3) Multi-UAVs cooperative searching models are designed based on ABMS.The Agent-based simulation model framework was designed. In this section, thescenario is presented. The agents and their interaction were discussed based on thescenario. Finally, the activities for agents were analyzed, and the structure of the UAVplatform was introduced.(4) Multi-UAVs cooperative searching models are built for simulation analysis.The multi-UAVs cooperative searching models was built based on SoS (System ofSystems) effectiveness analysis simulation platform. Then the behavior of UAV wasdesigned using TPL (Tactic Programming Language) based on cooperative searchingstrategy. The influence of communication conditions and target types on cooperativestrategy was analyzed. Furthermore, by the comparison simulation with Random searchand Greedy search, the simulation results show the effectiveness of the proposedcooperative strategy.