| Begin |
| Step 1: Initialization. Set the generation counter ; Initialize the population of NP bats |
| randomly and each bat corresponding to a potential solution to the given |
| problem; define loudness , pulse rate , pulse frequency and the initial |
| velocities . |
| Step 2: Generating rotation coordinate system. Transform the original coordinate system |
| into new rotation coordinate whose horizontal axis is the connection line from |
| starting point to target point according to (1); convert |
| battlefield threat information to the rotation coordinate system and divide the axis |
| into equal partitions. Each feasible solution, denoted by |
| P , is an array indicated by the composition of coordinates |
| which are the floating-point numbers |
| Step 3: Evaluate the threat cost J for each bat in by (4) |
| Step 4: while The halting criteria is not satisfied or MaxGeneration do |
| Generate new solutions by adjusting frequency, and updating velocities |
| and locations/solutions [(7)] |
| if (rand ) then |
| Select a solution among the best solutions; |
| Generate a local solution around the selected best solution |
| end if |
| Generate a new solution by flying randomly |
| if (rand < and ) then |
| Accept the new solutions |
| Increase and reduce |
| end if |
| Rank the bats and find the current best |
| |
| Step 5: end while |
| Step 6: Inversely transform the coordinates in final optimal path into the original |
| coordinate, and output |
| End. |
