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A Multi-UAV Distributed Collaborative Search Algorithm Based on Maximum Entropy Mechanism
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AI
DOI：10.3390-drones9080592.png)
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Abstract
En 中文
This paper addresses the core issues of slow coverage rate growth and high repeated detection rates in multi-UAV cooperative search operations within unknown areas. A distributed cooperative search algorithm based on the maximum entropy mechanism is proposed to resolve these challenges. It innovatively integrates the entropy gradient decision framework with DMPC-OODA (Distributed Model Predictive Control-Observe, Orient, Decide, Act) rolling optimization: environmental uncertainty is quantified through an exponential decay entropy model to drive UAVs to migrate toward high-entropy regions; element-wise product operations are employed to efficiently update environmental maps; and a dynamic weight function is designed to adaptively adjust the weights of coverage gain and entropy gain, thereby balancing “rapid coverage” and “accurate exploration”. Through multiple independent repeated experiments, the algorithm demonstrates significant improvements in coverage efficiency—by 6.95%, 12.22%, and 59.49%, respectively—compared with the Search Intent Interaction (SII) mode, non-entropy mode, and random mode, which effectively enhances resource utilization.
Keywords:
multi-UAV cooperative search
maximum entropy mechanism
distributed model predictive control
coverage efficiency
environmental uncertainty
Journal
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