Multi-UAV Distributed Area Coverage Target Search Method Based on Comprehensive Situation Maps

In this paper, an optimization method approach based on comprehensive situational maps is proposed to solve the multi-UAV coverage target search problem. Firstly, three information map models and update mechanisms are constructed, secondly, the search effectiveness function is established with the task of coverage target search, and finally, a coverage target search algorithm based on information fusion is designed based on the distributed model predictive control framework and particle swarm optimization algorithm. The simulation results show that the algorithm can guide the UAV cluster to maximise the coverage of unknown areas and complete the multi-objective search task at the same time.