Autonomous Search Algorithm for Swarm of UAV with System Uncertainties

초록

Swarm of low-cost unmanned aerial vehicles (UAVs) for search mission has benefit in the sense of rapid search compared to use of single high-end UAV. However, a number of UAVs cause the problems that increase the burden for the mission planning and the cost for operation system. In this paper, we suggest an autonomous area search algorithm adequate for multiple UAVs which takes advantages of flexibility, robustness, and simplicity. For autonomous search flight, the basic behaviors are defined as Search, Avoidance, Consensus, Return. UAVs rely on the local communication and perform the mission based on the pheromone strategy autonomously. To confirm the applicability of the algorithm in real world, multi-UAVs operation systems is introduced, and flight test is done.