Multi-UCAV Cooperative Target Allocation Based on Energy-Reserved Chemical Reaction Algorithm (CNCRO)

Algorithm 1

The optimization algorithm of CNCRO.

(1)	Define and initialize corresponding parameters, such as the number of molecules (), the lower limit of kinetic energy loss rate (), the condition threshold (), and the initial kinetic energy of molecules ()
(2)	Create molecules based on the number of molecules ()
(3)	For every molecule do
	Obtain randomly the molecular structure , calculate with objective function , and initialize with initial value of kinetic energy ()
(4)	end for
(5)	Initialize the environmental energy-reserved variable ()
	Create the molecular pointer (, , )
(6)	while the end condition of iteration is not satisfied do
	Generate a random number between 0 and 1 for the temporary variable
(7)	Ifthen
	Select a molecule of from the container
(8)	If the conditions of classification are met then
	(, , success) = DecomposeOnWall (, )
(9)	If success == TRUE then
	Remove the molecule of from the container while adding the molecules of and ,
(10)	end if
(11)	else
	IneffectiveOnWall (, )
(12)	end if
(13)	else
	Select the molecules of and from the container
(14)	If the conditions of combination are met then
	(M, success) = SynthesisInter (, )
(15)	If success == TRUE then
	Remove the molecules of and from the container and add the molecule of at the same time
(16)	end if
(17)	else
	IneffectiveInter (, )
(18)	end if
(19)	end if
	Determine whether the potential energy of the new molecule is the lowest and preserve the globally optimal molecule
(20)	end while
(21)	Output the structure and potential energy value of the global optimal molecular, that is the global optimal solution and the objective function value