Data Collection Method of Energy Adaptive Distributed Wireless Sensor Networks Based on UAV

Algorithm 1

The improved ACO.

1. Initialize pheromone and heuristic value;

2. Initialize the taboo table of ants;

3. Introduce Simulated Annealing iteration;

4. Execute ant search algorithm;

5. Set the starting node of the ant search algorithm;

6. Calculate the cluster head node to be reached next;

7. If Path update is not complete then

8.     Return to step 5 and continue to execute;

9. Else

10.  If Ant search is not complete then

11.    Return to step 4 and continue to execute;

12.  Else

13.    Calculate the shortest path objective function value;

14.    If Better than the value at the previous temperature then

15.      Update path and shortest path value;

16.      Update pheromone;

17.      If the tempering conditions are met then

18.        Execute tempering algorithm;

19.        Update temperature;

20.        If the Simulated Annealing iteration is completed then

21.          Obtain the optimal path and shortest path value;

22.        Else

23.          Return to step 3 and continue to execute;

24.        End if

25.      Else

26.        Go to step 19;

27.      End if

28.    Else

29.      Update dynamic SA probability coefficient;

30.      If the new path acceptance probability condition is satisfied then

31.        Go to step 15;

32.      Else

33.        Go to step 16;

34.      End if

35.    End if

36. End if