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Abstract: Coordinating multiple unmanned aerial vehicles (multi-UAVs) is a challenging technique in highly dynamic and sophisticated environments. Based on digital pheromones as well as current mainstream unmanned system controlling algorithms, we propose a strategy for multi-UAVs to acquire targets with limited prior knowledge. In particular, we put forward a more reasonable and effective pheromone update mechanism, by improving digital pheromone fusion algorithms for different semantic pheromones and planning individuals’ probabilistic behavioral decision-making schemes. Also, inspired by the flocking model in nature, considering the limitations of some individuals in perception and communication, we design a navigation algorithm model on top of Olfati-Saber’s algorithm for flocking control, by further replacing the pheromone scalar to a vector. Simulation results show that the proposed algorithm can yield superior performance in terms of coverage, detection and revisit efficiency, and the capability of obstacle avoidance.

基于数字信息素和领航算法的未知环境多智能体目标探测

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