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

Pseudocode 3

Greedy algorithm

Input: Individual x

Output: Optimized individual x

1: ;

2: do

3: fori =1 tomdo

4:  for∀𝑣_𝑖𝑗,∈𝑥_𝑖 (𝑗≠𝑘)do

5:   Exchange the positions of 𝑣_𝑖𝑗 and 𝑣_𝑖𝑘 in 𝑥_𝑖;

6:   Calculate ;

7:   if 𝑜𝑙𝑑𝐹−𝑛𝑒𝑤𝐹≤0 then

8:    Restore the positions of 𝑣_𝑖𝑗 and 𝑣_𝑖𝑘 in 𝑥_𝑖;

9:   end if

10:  end for

11: end for

12: while (x is updated)

13: returnx