Multi-UAV Cooperative Fixed-point Detection Method Based on Conflict Search

A cooperative fixed-point detection algorithm for multiple UAVs based on conflict search is proposed, which solves the problem of continuous cooperative detection of a certain place by multiple UAVs. This method can monitor and resolve the conflict in real time by setting the conflict between UAVs with large repetition times of detection time, so that multiple UAVs can continuously detect a certain place. At the same time, some improvements are made to the algorithm, and the detection time of UAV is prolonged by adding detection time to heuristic function; In order to meet the high real-time requirements of multi-UAV system, FOCAL-list is added to improve the running speed of the algorithm. Experimental results show that the proposed algorithm can achieve multi-UAV cooperative fixed-point detection, compared with the swarm intelligence algorithm, the improved algorithm has better effect.