Research on Target Tracking Algorithm Between UAVs in Unknown Environment

In order to improve the ability and efficiency of exploring the unknown indoor environment, we consider letting the unmanned aerial vehicle in the back relay the unmanned aerial vehicle in the front with low power to complete the unfinished task. Considering the problems of time-consuming tracking and flight distance, the heuristic function of Tracking-D*Lite algorithm is improved, and Chebyshev distance is selected as the new heuristic function. At the same time, the node selection method of the algorithm is improved, and the priority selection strategy is adopted to avoid the generation of dangerous moving paths. The simulation results show that, compared to the basic algorithm, the improved tracking algorithm reduces the required time and flight distance, and the planned path is also more secure.