Plan method for rapid coverage track search coordinated by multiple UAVs (Unmanned Aerial Vehicles)

The invention discloses a plan method for rapid coverage track search coordinated by multiple UAVs, and belongs to the field of UAV track planning. Key searching objects, namely points, lines and surfaces, are extracted from a gray area according to prior information of a battlefield environment and geometric characteristics of an object existing area; the access sequence of the key searching objects is determined via an integer-dual-coded genetic algorithm; according to the key searching objects and the distribution sequence of the UAVs, a local shortest connection track from the end point of a present object coverage search track to the start point of a next object coverage search track is obtained via a Dubins path and a greedy strategy, the coverage search track of the next search object is obtained, and the UAV coordinated coverage search track is obtained. The coordinated rapid coverage search track of multiple UAVs in the special gray area can be planned, the coverage time is short, the robustness of t