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App. Res. of Comp. Accepted Paper
Vol. 43, 2026 No. 2

Cooperative search algorithm based on hierarchical pheromone for UAV swarm

Li Xudonga,b
Chen Junshenga,b
Liu Hengchuana
a. College of Software, b. Tianjin Key Laboratory of Operating System, Nankai University, Tianjin 300457, China
DOI: 10.19734/j.issn.1001-3695.2025.07.0239

Abstract

To address the limitations of unmanned aerial vehicle (UAV) swarm cooperative search algorithms, such as insufficient flexibility and low search efficiency for critical targets, this paper proposes a hierarchical pheromone-based cooperative search algorithm for UAV swarm(HP-CS) . Firstly, this paper achieved high-fidelity modeling of complex missions through multidimensional representations of environments and targets, preserving critical operational features. Meanwhile, it imporoved the traditional pheromone model by introducing a hierarchical pheromone model. Secondly, the algorithm leveraged knowledge graphs to classify the importance level of targets based on known target information. It linked high-priority targets to high-level pheromones, enabling prioritized search for critical objectives. Finally, the distributed-architecture-based cooperative search algorithm ensures that individual UAV states remain decoupled from the global swarm state. Simulation results demonstrate that the proposed algorithm efficiently searches targets within the mission area and maintains robustness in scenarios with targets of varying importance. In both single-target and multi-target search experiments, it significantly outperforms comparison algorithms, which proves it enhances search efficiency, especially for critical targets.

Foundation Support

国家科技大项目(2018YFB0204304)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2025.07.0239
Publish at: Application Research of Computers Accepted Paper, Vol. 43, 2026 No. 2

Publish History

[2025-10-27] Accepted Paper

Cite This Article

李旭东, 陈俊升, 刘恒川. 基于分级信息素的无人机集群协同搜索算法 [J]. 计算机应用研究, 2026, 43 (2). (2025-11-04). https://doi.org/10.19734/j.issn.1001-3695.2025.07.0239. (Li Xudong, Chen Junsheng, Liu Hengchuan. Cooperative search algorithm based on hierarchical pheromone for UAV swarm [J]. Application Research of Computers, 2026, 43 (2). (2025-11-04). https://doi.org/10.19734/j.issn.1001-3695.2025.07.0239. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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