A Hybrid Metaheuristic DE/CS Algorithm for UCAV Three-Dimension Path Planning

Algorithm 1

Algorithm of DE with DE/rand/1/bin scheme.

Begin

 Step 𝟏 : Initialization. Set the generation counter 𝑡=1; randomly generate a population of NP

    individuals 𝑃; set the weighting factor 𝐹 and a crossover constant CR

 Step 𝟐 : Evaluate the fitness for each individual in 𝑃

 Step 𝟑 : while the halting criteria is not satisfied do

       for  𝑖=1 to NP do

        Select uniform randomly 𝑟₁≠𝑟₂≠𝑟₃≠𝑖

        rand𝑗=⌈NP∗rand⌉

         for  𝑗=1 to 𝐷  do

           if rand ≤ CR or 𝑗 == rand𝑗 then

             𝑉_𝑖(𝑗)=𝑋_𝑟1(𝑗)+𝐹×(𝑋_𝑟2(𝑗)−𝑋_𝑟3(𝑗))

           else

             𝑉_𝑖(𝑗)=𝑋_𝑖(𝑗)

           end if

         end for

       end for

        for 𝑖=1 to NP do

        Evaluate the offspring 𝑈_𝑖

        if 𝑈_𝑖 is better than 𝑃_𝑖  then

          𝑃_𝑖=𝑈_𝑖

        end if

      end for

        Memorize the best solution achieved so far

       𝑡=𝑡+1

 Step 𝟒 : end while

End.