Solving “Limited” Task Allocation Problem for UAVs Based on Optimization Algorithms

Pseudocode 2

Pseudocode of the PSO algorithm.

Input: UAVs, Tasks, Key Tasks.

Output: The best task assignment sequence and its objective function value.

1: The UAV, mission and key task are encoded as particles.

2: DO

3: For per particle

4:  Calculated the fitness (using evaluation function);

5: If (fitness is better than historical best value of particles)

6:  Use Xi update the best individual in history Pi;

7: End

8:  Select the best particle in the current particle swarm;

9: If (the current best particle is better than the historical best particle)

10:  Update with the best particle of current swarm Pg;

11: For per particle

12:  Update the particle velocity according to formula (11);

13:  Update the particle position according to formula (12);

14: End

15: While The maximum number of iterations is not reached