Dynamic simulation environment for multiple UAVs distributed cooperative mission control

In order to evaluate distributed cooperative control algorithms for multiple unmanned aerial vehicles (UAVs), a distributed multiple UAVs cooperative mission simulation environment was designed and proposed. Firstly, the distributed characteristic of multiple UAVs cooperation problem in wide area search and destroy mission was analyzed. Then, based on the publish/subscribe network communication model, the simulation system framework was constructed which contains vehicle dynamics models, simple target models, and inter-vehicle networks communication models. Finally, simulation results of multiple UAVs cooperative area searching demonstrate the feasibility and expansibility of proposed simulation environment, which can be used to support the research on multiple UAVs cooperative mission control problems.