Journal of Sensors / 2019 / Article / Alg 2

Research Article

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

Algorithm 2

optimGA: NSGA-II for MTS.

1: procedure  OPTIMGA(, , )
2:   Get population size
3:   Obtain number of actions for each UAV
4:   Generate J sequences with the required actions
5:  for j=1:J do
6:    Simulate and evaluate
7:  end for
8:   Initialize counter of the algorithm iterations (generations)
9:  while    do Main optimization loop
10:   Select pair of parents (tournament selection)
11:   Perform crossover of parents (single point crossover)
12:   Mutate children (incremental gaussian mutation)
13:  for j=1:J do
14:    Simulate and evaluate
15:  end for
17:   Increment the GA generation number
18: end while
19:  Select best solution
20:  Sim. and evaluate it
21:  return Return best solution
22: end procedure

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