Multi-UAV Cooperative Search method for a Moving Target on the Ground or Sea

Aiming at the problem that the moving target on the ground/sea surface is difficult to detect by the traditional multi-UAV cooperative parallel search strategy, a multi-UAV cooperative search strategy with formation shape of V is proposed in this paper. This method improves the probability of detecting the moving target by reducing the coverage blind area of airborne sensor. Firstly, the search strategy is described in detail. Then, the motion model of UAV, the model for sensor detection, the model of target motion and the discriminant model for target detection are respectively established. Finally, the simulation for the multi-UAV cooperative search strategy with formation shape of V is carried out by Matlab/M-file programming. The comparative simulation results between the proposed approach and the traditional multi-UAV parallel search strategy show that the presented search method can improve the probability of detecting the moving target, which confirms the superiority and effectiveness.