In complex mountainous terrain(with steep slopes),utilizing a swarm of drones for emergency rescue and search of lost dynamic targets is a highly challenging and practically significant task.In this paper,an improved internal spiral coverage algorithm(IISCA)based on confidence region is studied,which can achieve full coverage traversal of drones and search for dynamic target.Based on the last position of the lost target,the algorithm focuses on modeling the area and analy-zing the slope of the terrain,and the swarm of drones will search in the area with a slope less than 37°.Introducing the con-cept of confidence region helps to fix the search area and avoid repeated searches by drones swarms.The simulation results show that compared with the improved internal spiral algorithm,the proposed algorithm is superior in reducing the running time,improving the search efficiency and shortening the search path.
维普
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