Distributed Cooperative Search Control Method of Multiple UAVs for Moving Target

Algorithm 1

The distributed decision-making algorithm of Multi-UAVs cooperative search.

Initialize: Assume that the prediction horizon length is , sample time is , discrete time is .

 At time , , is initialized. Predict the states of each UAV and obtain prediction

 sequences , , .

 Step  1. Let the first item of control sequence as the command of output decision.

 Step  2. Update the system states , and predict the states and decision sequences of

 UAV as , , .

 Step  3. UAV sends its state and decision-making information to UAV , and receives the

 prediction states sequence , of the other UAVs.

 Step  4. Compute the value of each value function based on formulation (26), (27), (28), (31), and (32), and obtain

 total cost value of UAV in the prediction horizon length .

 Step  5. According to formulation (39), make the local decision and obtain decision-making sequence

 , define as decision-making output at time .

 Step  6. Update , return to Step  1.

End