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Figure 13. Search process in different cases of UAV-target configuration.
Figure 14. Comparison of the search results with and without the motion prediction.
resultwithandwithoutthemotionprediction, anditclearlyindicatesthatwhentargetmotionpredictionisnot
used, the average number of targets found will significantly decrease, which is because probability map cannot
effectively predict the random and evasive movement of the target. Moreover, when the UAV approaches the
target, the existence probability of the target shifts between adjacent grid cells without motion prediction due
to the rapid movement of the target, and the probability of losing the target will be significantly increased.
6.4. Comparison of different optimization algorithms
In order to compare the optimization effectiveness of the proposed optimization algorithm, a set of optimiza-
tion algorithms will be used as a comparison in the following experiment. First of all, a motion-encoded
