Cooperative Search Strategy for UAVs with Frontal Image Sensor

This paper focuses on the cooperative search strategy for a team of unmanned aerial vehicles (UAVs) with limited Field-of-View (FOV) and communication range. Firstly, the models of environment, UAV, frontal image sensor, and communication network are established. Secondly, a distributed map fusion strategy is proposed. Thirdly, a Voronoi Partition based Receding Horizon Control (VPRHC) strategy for path planning involved in the cooperative search is proposed, and available overload of the UAV and inter-UAV collision avoidance are taken into account. Finally, the effectiveness of the proposed search strategy is demonstrated via simulations.

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