Research Article

# A Bat Algorithm with Mutation for UCAV Path Planning

## Algorithm 4

Algorithm of BAM for UCAV path planning.
 Begin Step 1: Initialization. Set the generation counter ; Initialize the population of NP bats randomly and each bat corresponding to a potential solution to the given problem; define pulse frequency ; set loudness , the initial velocities and pulse rate ; set weighting factor . Step 2: Generating rotation coordinate system. Transform the original coordinate system into new rotation coordinate whose horizontal axis is the connection line from starting point to target point according to (1); convert battlefield threat information to the rotation coordinate system and divide the axis into equal partitions. Each feasible solution, denoted by P , is an array indicated by the composition of coordinates which are the floating-point numbers Step 3: Evaluate the threat cost J for each bat in P by (4) Step 4: while The halting criteria is not satisfied or MaxGeneration do Sort the population of bats P from best to worst by order of threat cost for each bat; for    : NP (all bats) do Select uniform randomly if (rand ) then else end if Evaluate the fitness for the offsprings , , Select the offspring with the best fitness among the offsprings , , if (rand ) then ; end if end for Evaluate the threat cost for each bat in by (4). Sort the population of bats from best to worst by order of threat cost for each bat; ; Step 5: end while Step 6: Inversely transform the coordinates in final optimal path into the original coordinate, and output End.

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