Optimization of Base Location and Patrol Routes for Unmanned Aerial Vehicles in Border Intelligence, Surveillance, and Reconnaissance

Algorithm 2

Heuristic based on clustering and CW saving search.

Allocate targets: allocate every target to its nearest station

Sort base: sort base stations by the number of allocated targets

while (unvisited targets) do

Select the base with the most targets and calculate the saving matrix

Detect targets with CW

if (unvisited targets in this base) then

Reallocate: allocate the remaining targets to the second nearest station

end if

end while

while (bases with the number of UAVs lower than limit) do

Select the base with the least targets and close the station

Reallocate: allocate targets of the station to the nearest neighbour station

Re-detect targets: add the new targets for the neighbour station

end while