| Inputs: Size n of the population and MI is the total number of repetitions |
| Outputs: The position of prey and its fitness function |
| Step 1: |
| Initialize parameters of each vehicle node such as position, direction, and the velocity; |
| make a mesh topology across nodes/vertices; |
| Initialize Population v1, v2, . . . , vn |
| Setting Vp (t) as the best path for the prey |
| Step 2: |
| for t=1 to MI, repeat the following steps: // the size of the maximum iterations |
| Compute ff(vi)// Calculate the fitness function |
| Update (t) if there is a better solution |
| for // vi is hawks |
| Compute Ei=2×rand (), δ=2× (1-rand ()) and Ep based on Eq. (12) |
| if then compute //Exploration phase |
| if then // Exploitation phase |
| if (ɩ ≥0.5 && |Ep| ≥0.5) |
| compute based on Eq. (13) |
| elseif (ɩ ≥0.5 && |Ep| <0.5) |
| compute based on Eq. (14) |
| elseif (ɩ <0.5 && |Ep| ≥0.5) |
| compute based on Eq. (17) |
| elseif (ɩ <0.5 && |Ep| <0.5) |
| compute based on Eq. (18) |
| Current iteration = current iteration+1 |
| end for |
| update |
| end |