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This paper studies heterogeneous UAVs cooperative search technology suitablefor complex environments. In the application, a fixed-wing UAV drops rotor UAVsto deploy the cluster rapidly. Meanwhile, the fixed-wing UAV works as acommunication relay node to improve the cooperative search performance of thecluster further. Aiming at the cooperative search requirements of heterogeneousUAVs, a jumping grid decision method is proposed to satisfy the maneuverabilityconstraints of UAVs, a parameter dynamic selection method is developed to makesearch decision more responsive to task requirements, and a search informationtransmission method with low bandwidth is designed, which significantlyimproves the communication efficiency of UAVs. The simulation results show thatheterogeneous UAVs have the capabilities of adaptive decision-making, threatavoidance, and collision avoidance. The cooperative search performance of theheterogeneous cluster under communication constraints is significantly improvedcompared to the homogeneous cluster.

Research on Cooperative Search Technology of Heterogeneous UAVs in Complex Environments