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| Multi-UAV Cooperative Target Search Method Based on AMDE-DMPC Algorithm |
| CUI Siyuan1， LI Hao1， FAN Xiangyu2， NI Lei1， HOU Jiahang1 |
| 1. Air Force Early Warning Academy， Wuhan 430000， Hubei， China；
2. Air Force Harbin Flight Academy， Harbin 150088， Heilongjiang， China |
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Abstract Aiming at the cooperative search problem of multiple unmanned aerial vehicles (UAVs) for dynamic and static targets, a cooperative target search method of multiple UAVs based on an improved differential evolution algorithm (Adaptive Multi-strategy Differential Evolution, AMDE) and distributed model predictive control (DMPC) was constructed. First, the battlefield environment of the mission area was described by uncertainty and the target prior probability. Based on environmental exploration benefits, target detection benefits, and obstacle-avoidance constraints, a fitness function model for collaborative target search was established. Then, the AMDE algorithm, integrating multi-strategy adaptive selection and a double-layer adaptive parameter adjustment mechanism, was designed. Combined with distributed model predictive control, the optimal search track sequence was determined to complete the cooperative target search. The simulation results demonstrate that this method can effectively increase the likelihood of target discovery and improve the timeliness of task completion, while also exhibiting good efficiency and robustness.
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Received: 08 August 2025
Published: 13 January 2026
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2025, Vol. 8 
