Abstract: For the search problem of mobile targets in an uncertain region after long-range penetration, a long-range penetration and cooperative search path decision-making method of multiple UAVs is proposed. The basic planar diffusion model is improved, and an uncertainty region diffusion model is built by considering the target motion and the circumstance constraints. The strategy of the penetration decision and trajectory optimization search decision-making is researched for mobile target based on the algorithms of potential field and receding horizon control. The proceed function of the cooperative search is proposed in consideration that the uncertainty reduce proceeds, average uncertainty and integration cross, which is the trajectory optimization rule of the cooperative penetration and search decision-making. The simulation was carried out. The simulation results show that the algorithm is useful in dealing with the emergent threat and the uncertainty area diffusion, and can complete the long-range penetration and the cooperative search mission of multiple UAVs.

Key words: control and navigation technology of aerocraft, multiple UAV, uncertainty region diffusion model, long-range penetration, cooperative target search