Optimization Algorithm for AoI-Based UAV-Assisted Data Collection

Algorithm 3

Trajectory optimization algorithm based on ant colony algorithm.

Input: cluster head coordinates, coordinates of data center DC, maximum

   iteration and other related parameters;

Output: Shortest path trajectory , the optimal value of P2;

1: Initialization related parameters;

2: for i=1: do

3: for j=1: do

4:  Update tube, allowed

5:  Determine the next visited cluster head node according to equation (16);

6: end for

7: Calculate the value corresponding to the path found by each ant according

  to equation (15);

8: Update the pheromone according to equation (17) (18);

9: end for

10: Choose the trajectory that minimizes equation (15), denoted as , the

 corresponding value is the optimal value of P2.