In this correspondence, we address the problem of real-time moving target search in dynamic and partially observable environments, and propose an algorithm called real-time moving target evaluation search (MTES). MTES is able to detect the closed directions around the agent and determines the estimated best direction to capture a moving target avoiding the obstacles nearby. We have also developed a new prey algorithm (Prey-A*) to test the existing and our predator algorithms in our experiments.

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... We have obtained an impressive improvement over moving target search, real-time target evaluation search, and real-time edge follow with respect to path length. Furthermore, we have also tested our algorithm against A*. Index Terms-Moving target search, real-time path planning.