Design of hierarchical theory based module for multiple unmanned air vehicles cooperation under uncertain environment.

In the paper, a hierarchical theory based cooperation module with 3 layers, named cooperative sensing-, situation comprehending-, and global replanning-layer, is introduced to address the problem of multiple unmanned air vehicles (MUAVs) dynamic cooperation under uncertain environment. Specifically, a layer cooperative operator (LCO) is proposed for the purpose of target sensing and recognition, and window optimized potential field (WOPF) strategy is adopted for obstacle avoidance and environment adaption consideration, while layer sense engine operator (LSEO) is suggested to enhance the module's ability of global replanning and MUAVs trajectory optimization. Simulation results indicate the promising potential of our proposed module in the area of MUAVs autonomous cooperation under uncertain environment. [ABSTRACT FROM AUTHOR]