Research Article
Dynamic Control Scheme of Multiswarm Persistent Surveillance in a Changing Environment
Algorithm 1
Grid-based weighted k-means algorithm.
| (1) | Input: DTM initial parameters | | (2) | Output: | | (3) | Area decomposition for UAVs swarms | | (4) | foreach do | | (5) | ci ⟵ iniLocation(ci) | | (6) | end | | (7) | foreach ei do | | (8) | minDist ⟵ argmin | | (9) | end | | (10) | repeat | | (11) | foreach do | | (12) | MoveC2Center (ci) | | (13) | end | | (14) | foreach do | | (15) | minDist ⟵ argmin | | (16) | if minDistance ≠ l(ei) then | | (17) | l(ei) ⟵ minDistance | | (18) | changed ⟵ true | | (19) | end | | (20) | end | | (21) | until changed = true and changeDistane ≤ threshold |
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