Cooperative Area Search for Multiple UAVs based on RRT and.pdf

Proceedings of the 7th Asian Control Conference, ThB3.1 Hong Kong, China, August 27-29, 2009 Cooperative Area Search for Multiple UAVs based on RRT and Decentralized Receding Horizon Optimization Hui Peng, Fei Su, Yanlong Bu, Guozhong Zhang, and Lincheng Shen. Abstract—This paper presents a decentralized method to the allowance for uncertainties in the environment, such as new problem of multiple Unmanned Aerial Vehicles (UAVs) threats or obstacles. To deal with dynamic search, some cooperative search of an unknown area. Firstly, based on search map-based methods including probability maps [5], map model, the multiple UAVs cooperative search problem is pheromone maps [6] are extensively used to direct the posed as a receding horizon (RH) optimization decision problem, cooperative search behaviors of autonomous vehicles in and a RH based UAV search decision process is proposed. Then, this centralized on-line optimization problem is partitioned into many literatures [7-9]. several UAV subsystems optimization problems and solved in a Recently, receding horizon (RH) control scheme [10] is parallel manner using a Nash optimality based decentralized considered useful for UAV search because it requires limited RH optimization method, and Particle Swarm Optimization computational resource