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

Algorithm 2

The pseudo-code of the second task assignment.

	Input: Fitness matrix , goods surplus , UAV payload surplus , number of locations , location coordinate matrix .
(1)	while
(2)	Finding the column where the largest element is located in ;
(3)	;
(4)	for to
(5)	if
(6)	Calculate the assignment matrix ;
(7)	end
(8)	end
(9)	if column of is not all zero
(10)	Finding the column where the minimum element is located in , ;
(11)	else
(12)	Dispatch new UAV;
(13)	end
(14)	end
	Output: Secondary assignment matrix .