Diffeomorphism transformation based UAV strategy planning for non-convex environments with arbitrary obstacles

In this work, we propose a cooperative search system for multiple unmanned aerial vehicles (UAVs) in non-convex environments with arbitrary obstacles. The objective is to control UAVs to find several unknown targets deployed in a given region. The cooperative search system framework integrates the information update into the coverage control scheme, consist of detection, communication and control systems. In order to handle non-convex environment with arbitrary obstacles, a new diffeomorphism transformation method is proposed to transform the search problem in the non-convex region into an equivalent one in the convex region. Furthermore, a control strategy is designed to plan feasible trajectories for UAVs, and the convergence is proved by LaSalle´s invariance principle. Finally, the effectiveness and advantages of our proposed algorithm is demonstrated through simulation.