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Robust Cooperative Multi-UAV Search for Uncertain Targets

Published: 28 June 2024 Publication History

Abstract

A robust cooperative multiple unmanned aerial vehicles (UAVs) search method based on Bayesian theory is proposed for the multiple UAV cooperative area search problem. Firstly, based on the traditional rasterized map model, the environment model, state space model and sensor model of multiple UAV collaborative area search are established. Considering the uncertainty of UAV sensor measurements and the uncertainty of the environment itself, robustness performance parameters are introduced to improve the system’s anti-interference and stability. Then, based on the solution strategy of distributed model predictive control (DMPC), the centralized multiple UAV online optimization decision problem is transformed into a small-scale distributed optimization problem for each UAV. The particle swarm optimization (PSO) algorithm is used to solve the optimization problem iteratively for each UAV. The effectiveness of the proposed method is verified by simulation results.

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ICRSA '23: Proceedings of the 2023 6th International Conference on Robot Systems and Applications
September 2023
335 pages
ISBN:9798400708039
DOI:10.1145/3655532
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

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Association for Computing Machinery

New York, NY, United States

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Published: 28 June 2024

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Author Tags

  1. Bayesian Theory
  2. Cooperative Area Search
  3. Particle Swarm Optimization
  4. Unmanned Aerial Vehicles

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