Multidepot UAV Routing Problem with Weapon Configuration and Time Window

Algorithm 1

Procedure of the ALNS.

Input:

: initial solution;

six neighborhood structures.

Output: the best solution .

;

;

initialize scores on neighborhood structures;

while acceptance standards not meet do

select a neighborhood structure;

modify   by chosen structure to generate ;

if   is accepted then

;

end

if    then

;

end

update scores on neighborhood structures;

end

Return  .