Cooperative search of UAV swarm based on improved ant colony algorithm in uncertain environment

Considering the situation that the regional environment is completely unknown and is dynamically changing, a novel method for multi-UAV (Unmanned Aerial Vehicle) conducting cooperative area search based on Ant Colony (AC) Theory is proposed. Firstly, the regional environment model and the UAV dynamic model were established. Secondly, the transfer rules of the waypoints were determined for UAVs by improving the behavior criterion of the ant colony algorithm and the updating principle of the pheromone map. Finally, Compared with the conventional search methods, the simulation results with higher coverage rate and search efficiency demonstrated the improved ant colony algorithm was rationality and validity.