Journal of Sensors / 2019 / Article / Alg 3

Research Article

Minimum Time Search in Real-World Scenarios Using Multiple UAVs with Onboard Orientable Cameras

Algorithm 3

sim&Eval: simulation and evaluation for MTS.

1: procedure  SIM&EVAL
2:  
3:  
4:   Simulation of the proposed sequence of actions to obtain UAV trajectory and fuel consumption
5:  for u=1:U do
6:    [, Simulate each UAV and sensor movement
7:             
8:  end for
9:   Evaluation of the trajectory obtained from the proposed sequence of actions
10:  Update collision criterion
11:  Update fuel consumption
12:  Update smooth criterion
13:  Update fuel consumption
14:  Simulation of the target and evaluation of the probabilistic criteria
15: 
16: while    do
17:  if    then
18:    Rename variable for the target transition
19:    Target motion part of Equation (2)
20:  end if
21:    Measurement update part of Equation (2)
22:   Equation (3)
23:   Update ET, with equation (4) in sequential form
24:  
25: end while
26:   Calculate myopia reduction criterion
27: return  , ,
28: end procedure

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