Table of Contents Author Guidelines Submit a Manuscript
International Journal of Aerospace Engineering
Volume 2015, Article ID 317953, 12 pages
Research Article

Distributed Cooperative Search Control Method of Multiple UAVs for Moving Target

1Aeronautics and Aerospace Engineering College, Air Force Engineering University, Xi’an 710038, China
2The First Aviation University of Air Force, Xinyang 464000, China

Received 16 December 2014; Revised 11 April 2015; Accepted 15 April 2015

Academic Editor: Christopher J. Damaren

Copyright © 2015 Chang-jian Ru et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


To reduce the impact of uncertainties caused by unknown motion parameters on searching plan of moving targets and improve the efficiency of UAV’s searching, a novel distributed Multi-UAVs cooperative search control method for moving target is proposed in this paper. Based on detection results of onboard sensors, target probability map is updated using Bayesian theory. A Gaussian distribution of target transition probability density function is introduced to calculate prediction probability of moving target existence, and then target probability map can be further updated in real-time. A performance index function combining with target cost, environment cost, and cooperative cost is constructed, and the cooperative searching problem can be transformed into a central optimization problem. To improve computational efficiency, the distributed model predictive control method is presented, and thus the control command of each UAV can be obtained. The simulation results have verified that the proposed method can avoid the blindness of UAV searching better and improve overall efficiency of the team effectively.