Research Article

Adaptive Weight Adjustment and Searching Perception Strategy for Multivariate Complex Environments

Algorithm 1

The ASWOA flow
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