Research Article
Adaptive Weight Adjustment and Searching Perception Strategy for Multivariate Complex Environments
Algorithm 1 ASWOA | Input: The UAV cluster , task area , obstacles set | Output: Optimal paths for multi-UAVs | 1 Initialize the UAV cluster and the task area set | 2 Calculate the fitness of each individual UAV according to Equation (6) | 3 while do | 4 for in do | 5 Update the values of parameters | 6 if then | 7 if then | 8 Update the position of according to Equation (8) and Equation (9) | 9 else if then | 10 Update the position of according to Equation (11) | 11 Update the individual position according to Equation (10) | 12 end if | 13 else if then | 14 Update the position of according to Equation (8) | 15 end if | 16 Determine whether the exceeds the task area | 17 Implement obstacle avoidance strategy according to Equation (3) and Equation (4) | 18 Add the current position of to the path set | 19 Calculate the fitness of each UAV according to Equation (6) | 20 | Update the global optimal solution | 21 end for | 22 end while | 23 Return to the path planning of the UAV cluster |
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