Cooperative area searching method for UAV swarm based on wolf pack intelligence

Abstract

For the cooperative searching problem of UAV swarm in unknown environment without prior information, an area covering search method inspired by swarm intelligence is proposed. First, the grid method is used to model the search environment discretely, and the UAV swarm cooperative covering search optimization model is established. Second, the creating and updating method for UAV search map is designed based on the scouting behavior of wolf pack. Third, considering the search reward and cost, the UAV cooperative search efficiency function and the search path decision method are constructed. The simulation results show that the proposed method can effectively improve the covering rate, and the search efficiency is significantly higher than that of random search method.