Research Article
Cooperative Target Search of UAV Swarm with Communication Distance Constraint
| | main program | | (1) | Initialize algorithm parameters, environment map, UAV position, and heading | | (2) | for | | (3) | if | | (4) | Initialize the environmental cognitive map according to formula (16); | | (5) | | | (6) | if | | (7) | Initialize the environmental cognitive map according to formula (21); | | (8) | end if | | (9) | end for | | (10) | for | | (11) | Update the target probability distribution map according to equations (16)–(21); | | (12) | for | | (13) | According to formula (26), judge whether to make an independent decision; | | (14) | According to formula (11), a differential evolution algorithm is adopted to make a real-time decision; | | (15) | for | | (16) | Determine the interactive member set according to formula (27); | | (17) | Complete information interaction and fusion according to formula (25); | | (18) | end for | | (19) | According to formula (14), the differential evolution algorithm is adopted to make real-time decisions; | | (20) | Update the UAV position according to formula (5); | | (21) | Update your own environmental cognition map according to formula (23); | | (22) | end for | | (23) | end for |
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