Boundary exploration algorithm of disaster environment of coal mine based on multi-UAVs

This paper proposes a boundary exploration algorithm of multiple unmanned aerial vehicles (multi-UAVs) under the disaster environment of coal mine. Firstly, the paper analyzed characteristics and disadvantages of the boundary exploration algorithm based on the utility value. Secondly, the angle factor in the process of navigation is taken into consideration and the dispersion function is introduced. As a result, a novel improved boundary exploration algorithm thus is proposed. Finally, the detection effect is compared between the two algorithm by simulation experiment. The simulation results shows that the improved boundary exploration algorithm can shorten the detection time and reduce the phenomenon of repeated coverage and crowding. Besides, the energy required for UAVs is reduced by about 13.5%.