Research Article
Dynamic Control Scheme of Multiswarm Persistent Surveillance in a Changing Environment
Algorithm 1
Grid-based weighted k-means algorithm.
(1) | Input: DTM initial parameters | (2) | Output: | (3) | Area decomposition for UAVs swarms | (4) | foreach do | (5) | ci ⟵ iniLocation(ci) | (6) | end | (7) | foreach ei do | (8) | minDist ⟵ argmin | (9) | end | (10) | repeat | (11) | foreach do | (12) | MoveC2Center (ci) | (13) | end | (14) | foreach do | (15) | minDist ⟵ argmin | (16) | if minDistance ≠ l(ei) then | (17) | l(ei) ⟵ minDistance | (18) | changed ⟵ true | (19) | end | (20) | end | (21) | until changed = true and changeDistane ≤ threshold |
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