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Scientific Programming
/
2020
/
Article
/
Alg 2
Research Article
Bayesian-Based Search Decision Framework and Search Strategy Analysis in Probabilistic Search
Algorithm 2
The searching process of the saccadic strategy.
(1)
Initialize the belief map M
(2)
Initialization decision threshold B, B and time
t
= 0
(3)
Calculate the aggregate belief B(0)
(4)
Initialization parameter
i
= 1
(5)
while
B
<
B
(
t
) < B do
(6)
Find the cell (
x
d
,
y
d
) with the largest belief on the belief map M
(7)
if
t
= 0 then
(8)
Construct a path
P
from (
x
c
,
y
c
) to (
x
d
,
y
d
) by the Dijkstra algorithm
(9)
a
th+1
=
P
(1)
(10)
else
(11)
if The (
x
d
,
y
d
) did not change then
(12)
a
th+1
=
P
(
i
)
(13)
else
(14)
Rebuild the path
P
(15)
a
th+1
=
P
(1)
(16)
Reset
i
= 1
(17)
end if
(18)
end if
(19)
i
=
i
+ 1
(20)
Check the cell
a
th+1
and get detection result
D
a
(
t
)
(21)
Update
M
based on
D
a
(
t
)
(22)
Calculate
B
(
t
)
(23)
t
=
t
+ 1
(24)
end while
(25)
return Search result
