Method for searching for dangerous source by cooperation of multiple unmanned systems

The invention discloses a method for searching for a dangerous source by cooperation of multiple unmanned systems. The method comprises the following steps: step 1, rasterization is carried out; step2, a space fitness function is designed, a unified dangerous source signal distribution model is built by means of gaussian process regression, the optimal position in the current moment space is calculated according to the space fitness function, and the optimal position in the current moment space is used as a temporary search target of each robot; step 3, by taking the temporary search target obtained in the step 2 as a temporary target point of each robot, the optimal position in the neighborhood is selected as the local target point of each robot according to the neighborhood adaptive value function, the robot is stepped and moved for collecting the signal intensity value of the current position to update a training set, and searching is stopped until a certain robot reaches the temporary target point; and if