An Unmanned Aerial Vehicles Collaborative Searching and Tracking Scheme in Three-Dimension Space

摘要

This paper proposes a multi-UAVs collaborative search scheme to realize target search in minimal time. We set up a three-dimension continuous `8'-shape trajectory model, simplify the camera model and propose the method of target detection. It combines the zigzag search strategy with genetic algorithm to optimal the search step and reduce the search time. In this method, UAVs always keep a fixed-formation during searching and tracking. Our algorithm was validated by simulations and gets results that meet the needs of the challenges in the 2020 Mohamed Bin Zayed International Robot Challenge.