Multi-UAV Cooperative Assisted RSU Data Acquisition Strategy considering Coverage Quality

Algorithm 1

HWGWOA.

Input:,,

Output:,

1. Initialize the population:;

2. Initialize the parameter: ,,,, , ,;

3. Calculate the fitness of each search agent;

the best search agent;

5. the Second best search agent;

6.  the Third best search agent;

7. While

8.   For (every search member)

9.     Update ,,,, and ;

10.     If1

11.       If2

12.        Update the position of the current search agent by the Equation (24);

13.       Else if2

14.         Update the position of the present search agent by the Equations (25);

15.       End if2

16.     Else if1

17.       Select a random search agent

18.       Update the position of the current search agent by the Equation (26);

19.     End if1

20.    End for

21.    Calculate the fitness of each search agent;

22.    Update , , and ;

23.    t = t +1;

24. End while

25. Return ;