运动目标的多无人机编队覆盖搜索决策

针对无人机搜索运动目标时，由于目标运动状态的不确定性，传统静态环境下的无人机覆盖搜索航迹规划算法不再适用的问题,分析了无人机覆盖搜索的基本原则，提出了运动目标垂线搜索（moving target with vertical line search pattern， MTVL）算法，证明了在MTVL策略下的任务完成条件。对MTVL算法进行了改进，通过控制无人机的运动方向与搜索区域边界的角度，提出了运动目标斜线搜索（moving target with slanting line search pattern， MTSL）算法，从理论上分析了在MTSL策略下的任务完成条件并进行了仿真验证。仿真结果表明，提出的两种搜索策略在满足一定条件下都能够完成对指定区域的搜索任务，而无人机完成任务的能力取决于无人机速度与目标速度的比值、无人机数目等因素；完成同样的搜索任务，与MTVL算法相比，MTSL算法对无人机速度和无人机数目的要求更低。

Coverage search strategies for moving targets using multiple unmanned aerial vehicle teams

When unmanned aerial vehicles (UAV) search mobile targets，the coverage flight path planning is useless due to the uncertainty of targets moving states. The basic principle of coverage flight path planning is investigated，and an algorithm of moving target with vertical line search pattern (MTVL) is presented, whose complete condition is also proved. Some improvements are given, and an algorithm of moving target with slanting line search pattern (MTSL) is presented by controling the angle of moving directions and search boundaries. The proofs are provided for the completing condition of search task，and simulations are demonstrated. Simulation results show that both proposed algorithms are available for resolving completing search missions to a given area when the speed ratio between UAV and targets and numbers of UAV are guaranteed. Compared with MTVL, MTSL can complete missions with less velocity and vehicle numbers.