Research on Multi-UAV Path Planning and Modeling for Ship Search

A set of modeling method and optimization model for multi-UAV cooperative target searching at sea is proposed. First, a basic model is built according to the maneuvering rules of ships and drones. Then, on the basis of considering the load balance of each UAV, the historical discovery probability of sea area is used to update the target probability map information. Finally, the ant colony algorithm is used to optimize the search route of each UAV, considering both the energy supply demand of UAV and the maximum target discovery probability. The simulation results show that the proposed method has high search efficiency and can be effectively applied to the fast search task of Marine targets, which has important application value.