Search Method of disaster inspection coordinated by Multi-UAV

The use of unmanned aerial vehicle(UAV) for timely and efficient disaster inspection is an important measure to reduce earthquake losses. Aiming at the problem that complicated terrain of the disaster area and the urgent time of disaster relief, this paper puts forward a multi-UAV collaborative disaster inspection search method, gets the optimal scheme of inspection under the primary disaster and secondary disaster. Factors such as terrain, inspection time, search area coverage and number of drones are fully taken into account, and the multi-machine cooperative flight model under primary disaster and secondary disaster is established respectively. Combined with the fastest descent method and the A Star algorithm, a route plan is obtained to complete the maximum coverage search in a specified time with UAV. The whole area search route under secondary disaster is obtained by using taboo search algorithm. The simulation results show that the route is reasonable and the maneuverability is strong.