Modeling and design of trajectory of multi-MAVs for coveraging multi-targets in non-cooperative manner

To improve the adaptabilities of reconnaissance and attack of multi-MAVs, the trajectory of multi-MAVs for coveraging the multi-targets in non-cooperative manner is modeled. The take-off point coordinates of MAVs are simulated using cloud model, and the taking-off direction is simulated by Monte Carlo method. The target zone model, MAV detection model, take-off point model, flight direction model and trajectory model are established. To improve the efficiency of the optimization design, the minimum number of simulations is determined based on the stability analysis of the expected coverage. The multi-target problem is solved by MOGA, and the regional coverage trajectory of multi-MAVs in non-cooperative manner is determined. The problems that can be solved by the schemes are analyzed according to the ratio of detecting radius to target zone radius. The designed trajectories reduce difficulty in control, and take coverage, the number of MAVs and flying range of MAV into account.