A Hybrid Metaheuristic DE/CS Algorithm for UCAV Three-Dimension Path Planning

Algorithm 2

The algorithm of cuckoo search (CS) via Lévy flights.

Begin

 Step 𝟏 : Initialization. Set the generation counter 𝐺=1; initialize the population 𝑃 of 𝑛 host

    nests randomly and each egg in a nest corresponding to a potential solution to the

    given problem; set the discovery rate 𝑝_𝑎.

 Step 𝟐 :  While the termination criteria is not satisfied or  𝐺 < MaxGeneration do

    Sort the population/nest from best to worst.

    Get a cuckoo randomly (say, 𝑖) and replace its solution by performing Lévy flights.

    Evaluate its quality/fitness 𝐹_𝑖.

    Choose a nest among 𝑛 (say, 𝑗) randomly.

    if (𝐹_𝑖<𝐹_𝑗)

      Replace 𝑗 by the new solution.

    end if

    A fraction (𝑝_𝑎) of the worse nests is abandoned and new ones are built.

    Keep the best solutions/nests.

    Sort the population/nest from best to worst and find the current best.

    Pass the current best to the next generation.

    𝐺=𝐺+1.

 Step   𝟑 :  end while

 Step 𝟒 : Post-processing the results and visualization.

End.