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 (xd, yd) with the largest belief on the belief map M
(7) if t = 0 then
(8)  Construct a path P from (xc, yc) to (xd, yd) by the Dijkstra algorithm
(9)  ath+1 = P(1)
(10) else
(11)  if The (xd, yd) did not change then
(12)   ath+1 = P(i)
(13)  else
(14)   Rebuild the path P
(15)   ath+1 = P(1)
(16)   Reset i = 1
(17)  end if
(18) end if
(19)i = i + 1
(20) Check the cell ath+1 and get detection result Da(t)
(21) Update M based on Da(t)
(22) Calculate B(t)
(23)t = t + 1
(24)end while
(25)return Search result