Theory and Realization of Secondary Task Assignment for Multi-UAV Pickup Based on Green Scheduling

Algorithm 1

The pseudo-code of the first task assignment.

	Input: Goods information matrix , maximum loading weight , maximum loading volume .
(1)	Initialize , , ,
(2)	Calculate initial number of UAV , fitness matrix , minimum weight proportion , minimum volume proportion , UAV for each location ;
(3)	;
(4)	for to
(5)	if
(6)	Send UAV to location ;
(7)	Update and ;
(8)	end
(9)	end
(10)	while
(11)	Finding the column where the largest element is located in ;
(12)	if
(13)	Send UAV to location ;
(14)	Update and ;
(15)	;
(16)	end
(17)	if
(18)	break
(19)	end
(20)	end
	Output: The first assignment matrix .