“…The radius of DD is set to be an optimal value 10 Á le [15,16]. In the 2D environment, we set the UAV motion parameters as: v min ¼ 0:5 units/s, v max ¼ 1:5 units/s, a v ¼ 0:02 units/s 2 , r min ¼ sl min ¼ 5 units; the DT velocity v D = 1 unit/s; TH= 15 seconds; UAV starts at [10,90], ends at [95,5]; DT starts at [10,10]; the maximum threat radius of radar R max ¼ 38 units; the maximum static threat radius of DT RD max ¼ 10 units; the radius of SH is 33 units; the v p in the non-membership function is 1 unit/s. In the 3D environment, the motion parameters of UAV and DT are set to be five times of those in the two dimensional scenario; the radar characteristic coefficient K R ¼ 0:003; TH=25 seconds; UAV starts at [950, 80 ,80], ends at [50, 950, 100]; DT starts at [950,950,0]; R max = 380 units; RD max ¼ 50 units; v p = 5 units/s; the radius of SH is 150 units.…”