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Affected by the complex environment and the destruction of communication infrastructure in the disaster-stricken area, it has brought great challenges to the search and rescue team. The use of small unmanned aerial vehicles (UAVs) for search tasks can minimize casualties. Therefore, in order to avoid any possible collision and search for unknown targets in the shortest time, it is necessary to design a multi-UAV cooperative target search strategy. In this paper, we analyze the unknown target search problem of multi-UAVs under random dynamic topology and propose an adaptive target search strategy based on the whale algorithm. First of all, each UAV detects the environmental information of its current area and uses the probability map search algorithm to gain the target existence probability map in the task area. Then, the whale optimization search method of shrinking circle or spiral is selected to update the position of the UAV to continuously approach the target. Finally, the obstacle avoidance strategy based on artificial potential field is designed to solve any collision problems that may be encountered during the flight of UAVs. Simulations on multi-UAVs target search in different scenarios show that compared with the whale optimization algorithm, the proposed algorithm can reduce the search time by 43.1% and the total path cost by 18.1%, and it is also superior to the advanced metaheuristic optimization algorithms such as PSO and GWO.

Adaptive Weight Adjustment and Searching Perception Strategy for Multivariate Complex Environments