Two trajectory planning strategies are proposed provided that the probability distribution map of the missing object is available. Monte Carlo simulations are carried out to compare the performance of the two trajectory planning modes. The simulation results indicate that the searching time would be much shorter if the Search and Rescue Unit (SRU) starts from the most probable point of the object location and navigate under a spiral trajectory by gradually increasing its searching radius. The results also indicate that when using this searching pattern, the detection probability is in most cases lower than the simple rectangular and parallel searching strategy that starts from the boundary of searching area. The width between two adjacent parallel trajectories can be treated as a good indicator for the trade-off between timeliness and detection probability in real applications. The results can be treated as a good reference for SAR missions in real scenarios.
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