Research on Distributed Control-Based Multi-UAV Cooperative Target Coverage Method

This paper proposes a distributed clustering-consensus algorithm for the cooperative target coverage problem of multiple-unmanned aerial vehicles (multi-UAVs) systems under incomplete information. First, the multi-UAV cooperative target coverage problem is analyzed in depth and a mathematical optimization model is established. Secondly, in order to solve the problem of target allocation conflicts under distributed control, targets are clustered and grouped, and conflict-free optimal allocation of targets is achieved through negotiation. Thirdly, in order to ensure the connectivity of communication links of multi-UAV systems, a communication connectivity mechanism is proposed based on the knowledge of graph theory. Finally, through simulation testing, it was further verified that the algorithm has good collaborative coverage performance.