This repository provides a homogeneous/heterogeneous unmanned aerial vehicles (UAVs) cooperative search program that runs in MATLAB.

Please cite our paper if you use this project in your research:

• Zhenchang Liu, Mingrui Hao, "Heterogeneous Unmanned Aerial Vehicles Cooperative Search Approach for Complex Environments," Engineering Applications of Artificial Intelligence, 138 (2024), 109384.

Quick Start

This project was developed in MATLAB 2023a. This program does not use a particular toolbox and can be used in lower versions of MATLAB. The program usage steps are as follows:

1. First, clone this repository.

   git clone https://github.com/LiuZhenchang/UAV_Cooperative_Search.git
   

2. Open the UAV_Cooperative_Search folder in MATLAB.

3. Open the file “run_demo.m”, set demo_index=1, and run the script. The program updates the search results in the figure every ten search decisions. Finally, you will see the search results of 4 homogenous UAVs with stationary obstacles. The search results may be different each time the program is run.

   

4. Open the file “run_demo.m”, set demo_index=2, and run the script. You will see the search results of 5 heterogeneous UAVs with stationary obstacles. In the UAV trajectories figure, you can use the Tools of Rotate 3D to adjust the angle of view.

   

5. Open the file "run_demo.m", set demo_index=3, and run the script. You will see the search results of 5 heterogeneous UAVs with dynamic obstacles. After the program is complete, run the following program, which can generate a video of UAVs' cooperative search process.

   F=Plot_UAV_Trajectory_Dynamic(map,GS,UAV_Coordinate,TAR,OBS);
   h=figure;
   set(gcf,'unit','inches','position',[0,0,14,6]);
   movie(h,F,1,10);
   v=VideoWriter('Trajectory.mp4','MPEG-4');
   v.FrameRate=10;
   v.Quality=100;
   open(v);
   writeVideo(v,F);
   close(v);
   

   

Licence

The source code is released under GPLv3 license.