Journal of Sensors / 2019 / Article / Alg 1

Research Article

Minimum Time Search in Real-World Scenarios Using Multiple UAVs with Onboard Orientable Cameras

Algorithm 1

Multistepped GA-based planner.

Require:  Structure with scenario models and times: , , , , ,
Require:  Structure with optimizer parameters
Require:  Initial UAVs locations and sensor poses
Require:    Duration of each subsequence
1: Determine the duration of the mission
2: Determine the number of sections required for the multi-stepped planner
3: Round the duration of the mission
4: Determine minimum time step to update .
5: Set starting time
6: Initialize
7: Initialize fitness criteria vector
8: for r=1:R do For each subsequence
9:   Obtain best subsequence
10:   Update time for the following section
11: end for
12: return   Complete UAV trajectory and sensor poses

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