The invention discloses a multi-unmanned aerial vehicle collaborative multi-moving
object search search method based on
Gaussian distribution prediction. The multi-unmanned aerial vehicle collaborative multi-moving
object search method based on
Gaussian distribution prediction is characterized by comprising the steps that 1, a task area R is represented by a search probability graph; 2, the Bayes rule is used to update the
posterior probability; 3, the objective positions of moving objects are predicted through the application of the
Gaussian distribution, and the search probability graph is updated; 4, a
distribution model prediction control method is used for constructing the search model of the multi-unmanned vehicle collaborative multi-moving objects search; 5, unmanned aerial vehicles solve a decision information input sequence and obtain heading deflection angles and fly according to the heading
deflection angle when the constraint condition is met; 6, a
time step is progressively increased, the step 2, the step 3, the step 5 and the step 6 are executed repetitively until the
time step exceeds the total
time step of search of the unmanned aerial vehicles, and then searching is over. The multi-unmanned aerial vehicle collaborative search method based on the Gaussian distribution prediction can achieve the task of searching multiple moving objects by multiple unmanned aerial vehicles in a collaborative mode, improve the accuracy of searching of the unmanned aerial vehicles, and ensure the accomplished accuracy of the searching task.