Polar coordinate-based differential evolution for moving target search using vision sensor on unmanned aerial vehicles

In search and rescue operations, there is a period known as the “golden time” during which the probability of finding the target alive is highest. The objective of this work is to propose a new search algorithm for unmanned aerial vehicles (UAVs) with a focus on improving the detection probability and execution time. We approach this problem by first modeling target dynamics as a Markov process and the detection likelihood as a function of image quality and the observer’s vision. We then employ Bayesian theory to derive a fitness function representing the probability distribution of the target’s location over the search area. Finally, we introduce a new algorithm named polar coordinate-based differential evolution (PDE) to generate a UAV search path that maximizes this fitness function. The PDE algorithm utilizes polar coordinates to incorporate kinematic constraints and maneuver properties of the UAV, allowing for better exploration of the solution space. A series of simulations and comparative analyses have been conducted to evaluate the performance of the proposed algorithm. Experiments involving a real UAV have also been conducted. Results demonstrate that the PDE algorithm outperforms state-of-the-art algorithms in terms of detection probability and execution time across diverse search scenarios while remaining practical for real-world applications. The source code of the algorithm is available at https://github.com/thuhangkhuat/PDE_target_search.

Installation

git clone https://github.com/thuhangkhuat/PDE_target_search.git

Run simulation

The current version have eight different scenarios, from 1 to 8. Before run each method, please change the value of model in file. To run our method:

1. Download all the source files from this repository.
2. Open MATLAB.
3. Execute the main script by running PDE.m.

Results

Citation: Thu Hang Khuat, Duy-Nam Bui, Thuy Ngan Duong & Manh Duong Phung. "Polar coordinate-based differential evolution for moving target search using vision sensor on unmanned aerial vehicles," in Intelligent Service Robotics. 2026.