Cooperative Search Optimization of an Unknown Dynamic Target Based on the Modified TPM

Table 1

Simulation parameters.

Parameter	Simulated value	Actual value
Detection range	50 grid	10 km
Catching range	5 grid	1 km
UAV speed		(144,200) km/h
Flight resources	2,400 grid	480 km
Safety distance	4 grid	0.8 km
Repulsive force distance	10 grid	2 km
System step length	1 step	5 s
Sampling period	120 step	600 s