Method and system for cooperatively searching multiple moving targets by unmanned aerial vehicle cluster

The invention relates to a method and a system for collaboratively searching multiple moving targets by an unmanned aerial vehicle cluster, belongs to the technical field of unmanned aerial vehicles, and solves the problems that the calculated amount of flight path planning is greatly increased due to the improvement of scene complexity and the real-time online planning requirement is difficult to meet in the existing method. The method comprises the following steps: manually inputting task parameters in a ground station and selecting an initial circle center position of a to-be-searched circular area on a real-time map of the ground station; calculating the initial radius of the circular area to be searched according to the task parameters, and uploading the initial radius and the initial circle center position to the information processing module of the plurality of unmanned aerial vehicles; calculating a track covering the circular area to be searched based on the initial radius and the initial circle cent