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update methods. Secondly, we established a multi-UAV search path planning optimization model based on
MPC and designed a CSMTPE with various objective functions of search benefits and costs. Thirdly, we pro-
posed an IGAFA to solve this optimization model. Finally, we conducted simulation experiments to evaluate
the proposed methods, and the results confirm their effectiveness.

Our experimental results show that the CSMTPE with IGAFA has higher search efficiency compared to tra-
ditional search methods, making it well-suited for the dynamic search process for targets with the ability to
perceive and evade. Overall, the proposed method could have practical applications in various fields, such as
search and rescue, surveillance, and military operations.

DECLARATIONS
Authors’ contributions
Made substantial contributions to the conception and design of the study and performed simulation and in-
terpretation: Wang Z
Provided administrative, technical, and material support: Zou W, Li S

Availability of data and materials
Not applicable.

Financial support and sponsorship
None.

Conflicts of interest
All authors declared that there are no conflicts of interest.

Ethical approval and consent to participate
Not applicable.

Consent for publication
Not applicable.

Copyright
© The Author(s) 2023.

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