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Method of multi-UAVs cooperative search for Markov moving targets

Aiming at the regional cooperative search problem for multiple unmanned aerial vehicles (UAVs), a greedy iterative decision-making method based on distributed model predictive control (DMPC) was proposed. Firstly, based on search information map model, the state variation of the environment and targets with the change of search process was described. Secondly, it established movement model, and analyzed the kinetic characteristics of UAVs. Thirdly, Markov chain was used to represent hidden movement of targets, and then, it predicted the position of targets. Fourthly, on the basis of DMPC, a greedy iterative decision-making method was adopted. Finally, through simulation experiment, it verified the feasibility and superiority of the method.