Multi-UAVs cooperative area search with no-fly zones constraints

This paper presents a kind of multi-UAVs cooperatively mission area searching algorithm with no-fly zones constraints. According to the existing environment and the states of UAVs, the search cost function is designed, and quantified the standard of flight path selecting of the UAVs. The search cost guids the UAVs to search the area along the flight path which has minimum cost. The algorithm is designed at the same time to avoid the no-fly zones, in order to ensure the safety of the flight. The simulation experiment shows that the proposed cooperative search algorithm can improve the search effectiveness, and compare it with a non-cooperative search algorithm; the algorithm is simple and effective.