Intelligent Warehouse Robot Scheduling System Using a Modified Nondominated Sorting Algorithm

Algorithm 2

Brain storm operator (P, S).

(1)	Objective normalization (P)
(2)	for i = 1: S − 1
(3)	Clustering: Dividing the population into m clusters using the k-means method.
(4)
(5)	if pgen < pfixed
(6)	//Select a random cluster from m clusters
(7)	if pone < pone-fixed//pone-fixed is a predetermined value
(8)	Select the clustering center and the individual Popi as parent generation of population
(9)	else
(10)	Select a random individual and the individual Popi as parent generation of population
(11)	end
(12)	end
(13)	Compare the newly generated individuals with the present ones by maximin function, where the better one is preserved.
(14)	end