The invention discloses a multiple-unmanned-aerial-vehicle multiple-
ant-colony collaborative target searching method. The multiple-unmanned-aerial-vehicle multiple-
ant-colony collaborative target searching method comprises the following steps that S1, a grid method is adopted to divide and mark a searching sea area, and a target probability
graph model is established; S2, a target function is established, and the unmanned aerial vehicle steering price, the unmanned aerial vehicle collision
threat price and the searching probability are subjected to weighted summation; and S3, a multiple-
ant-colony
algorithm is adopted to conduct collaborative path optimizing design on multiple unmanned aerial vehicles, and by setting the maximum number N<max> of iteration times, the S32 and S33 are executed until the maximum number of iteration times is met and the optimal searching path is output. According to the multiple-unmanned-aerial-vehicle multiple-ant-colony collaborative target searching method, the probability graph characteristics of a target in the sea area are fully utilized to design the new
ant colony pheromone comprising local initialization, global initialization and updating rules, thus through the ant
algorithm,
trajectory planning of the unmanned aerial vehicles can be quickly completed, the problem of repeated searching is avoided, the searching paths of the unmanned aerial vehicle cross, and the searching efficiency is improved.