Multi-MAV cooperative search technology based on model predictive control

Yang Wang; Yunqing Liu

doi:10.1117/12.2668044

20 April 2023 Multi-MAV cooperative search technology based on model predictive control

Yang Wang, Yunqing Liu

Proceedings Volume 12602, International Conference on Electronic Information Engineering and Computer Science (EIECS 2022); 126021O (2023) https://doi.org/10.1117/12.2668044
Event: International Conference on Electronic Information Engineering and Computer Science (EIECS 2022), 2022, Changchun, China

Abstract

A cooperative search path planning algorithm based on model predictive control (MPC) is proposed to solve the problem of multi-MAV cooperative search for dynamic target in unknown limited area. Firstly, the environment model, MAV state model, sensor model and search probability graph model are established. Secondly, based on the model, multi-target efficiency functions including target search profit and MAV flight cost are established. Considering that micro aerial vehicles (MAVs) detect each other independently, the integrated target probability fusion method is proposed to realize the information interaction between multiple aircraft and ensure the maximization of search benefits. Finally, the effectiveness and practicability of the algorithm are verified by simulation experiments.

Citation Download Citation

Yang Wang and Yunqing Liu "Multi-MAV cooperative search technology based on model predictive control", Proc. SPIE 12602, International Conference on Electronic Information Engineering and Computer Science (EIECS 2022), 126021O (20 April 2023); https://doi.org/10.1117/12.2668044

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