Environment information coherence in multi-UAVs cooperative area searching
2009
Multiple Unmanned Aerial Vehicles (UAVs) area searching is an important research area in cooperative control. Firstly, a distributed control framework for multi-UAVs cooperative area searching is established. Based on search map model, the problem of information coherence for multi-UAVs area searching is proposed, the key elements and reasons which cause the information non-coherence are discussed and analyzed. Then to reduce the information error under global communication delay, a Kalman estimation based information non-coherence compensation method is presented. At last, simulation results demonstrate the validity of our approach.
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