RBOA Algorithm Based on Region Segmentation and Point Update

Robot bean optimization algorithm (RBOA) is a recently proposed cooperative target searching method for swarm UAVs based on bean optimization algorithm (BOA). Considering the shortcomings of low initialization coverage and low efficiency of free space search for RBOA, we propose a region segmentation and point update strategy for RBOA. The region segmentation strategy divides the search space for RBOA initialization to improve the search efficiency. The point update strategy updates the base position in the free space to improve the utilization of UAV information obtained from traversal search. Compared with the RBOA and other target search algorithms, this method is more efficient and effective in unknown environment search.