Cooperative Search-Track Mission Planning for Multi-UAV Based on a Distributed Approach in Uncertain Environment

The problem of multiple Unmanned Aerial Vehicles (multi-UAV) cooperative searching and tracking moving targets in uncertain dynamic environment is considered. A Distributed Particle Swarm Optimization (DPSO) method is presented. The cooperative search-track mission is achieved by coupling task assignment and path planning. An uncertain map is designed to represent the dynamic environment. In the search-track mission environment of UAV swarm, the information exchange among UAVs is realized by broadcasting to update the information of uncertain dynamic map. Simulations are carried out to highlight the advantages of high search efficiency and excellent task completion which contribute to the target search and tracking task of UAV swarm in complex time-sensitive environment.