Abstract:

Cooperative search of multiunmanned aerial vehicle (multiUAV) is an important research field of multiUAV cooperative control. With the complication of battlefield environment, it is especially important for UAVs to search for dynamic timecritical targets. For motion characteristics of dynamic timecritical targets, contributing the motion prediction model of dynamic timecritical targets first of all, in order to decrease the uncertainty of targets motion and optimize search performance of UAVs, putting forward a transition probability density of targets based on gauss distributing on the basis of targets existence probability which is updated gby Bayesian theory, and computing existence probability of dynamic timecritical targets, then, contributing characteristics index function of UAVs cooperative search with reason, in the frame of distributed model prediction control (DMPC), transforming the centralized online optimization problem of multiUAV to a distributed online optimization problem of each UAV, finally, solving the characteristics index function optimally. Simulation results demonstrate the validity of the proposed method.