Multidepot UAV Routing Problem with Weapon Configuration and Time Window

Algorithm 4

Procedure of the FRC algorithm.

Input:

: the total number of targets;

: the basic information matrix related with the target. The first

line of the matrix is the target’s number; The second line of

the matrix stores the earliest allowed strike time of the target; The third line

of the matrix stores the target’s latest hit time; The fourth

line of the matrix stores the target time that UCAV hit the goal; The

fifth line of the matrix stores the time it takes UCAV to fly to the

target; The sixth line of the matrix stores the time it takes UCAV to fly

from the previous target to the target; The seventh line of the matrix

stores the total number of weapons assigned to the target; The eighth

line stores the total weight of the weapon assigned to the target point.

: time accumulated from depot to target and to depot;

: time accumulated from target to target ;

: total time for all target points visited by UAV;

: the total numbers of weapons after visiting all targets;

: The total weight of weapons after visiting all targets;

: UAV endurance;

: UAV maximum payload;

: The number of UAV hanging points;

: The number of UAV.

Output:

: A matrix set containing   number of new information matrix

, where  .

Set  ;  ;  ;  ;  ;  ;

while    do

while    do

for  (; ; )  do

;  ;

;  ;

;

end

;

If  (  or   or

  or    or  )

do

;  ;  ;  ;

;  ;

end

else

;  ;  ;

Output a new encoding matrix  ;

end

end

;  ;  ;

end

Return  .