Modelling and Simulation of Distributed UAV Swarm Cooperative Planning and Perception

Table 1

Simulation parameters.

Parameter	Value	Parameter	Value
Area of interest		Target start position	(200, 500)
Unit length	100 m	Unit logical step	1 min
True target motion model		Determined part of target state transition
in		Planning target motion model
UAV start position	(-170, -400) (-300, -550); (-430, -4.00) (-300, -250)	UAV start heading
UAV linear speed	km/h	UAV start energy amount (fuel)	ml
Constant fuel consumption	ml	Control space (turning option)
Turning fuel consumption	ml	Number of samples for planning
Number of particles		Sensor parameter
Sensor parameter		Sensor parameter
Sensor parameter		Sensor parameter
Sensor parameter		Objective weight