A Study on the Multiple UAVs Cooperative Fire Fighting based on Consensus Algorithm

As for multi-uninhabited aerial vehicle cooperative fire fighting problem, a multiuninhabited aerial vehicle cooperative control method was proposed based on consensus algorithm. multi-uninhabited aerial vehicle cooperative control problem was divided into two steps: 1) a multi-uninhabited aerial vehicle arrival simultaneous control strategy under influence of wind field based on consensus algorithm was presented, which achieves the target of multi-uninhabited aerial vehicle arrival simultaneous at fire front and scattered around the fire front, and prepared for cooperative fire fighting; 2) Applying consensus algorithm, cooperative tracking of the designed uninhabited aerial vehicle motional orbit, and fighting fire from outside to inside to avoid recrudescence. In the process of multi-uninhabited aerial vehicle tracking fire front and fire fighting, both step considered the influence of wind, achieved multi-UAV fighting fire simultaneous, shortened fire fighting time to decreased fire loss to minimum. Simulation results demonstrated that the proposed method could achieve target of multi-uninhabited aerial vehicle fire fighting effectively.