Path Planning for Multi-Vehicle-Assisted Multi-UAVs in Mobile Crowdsensing

Algorithm 2

Plan the paths of ground vehicles.

Input The set of selected parking spots ,

the set of corresponding detecting points ,

the set of candidate vehicles and its UAVs

Output The final solution

1 ;

2 build R-tree using the points in

3 do

4 for

5  select a vehicle from ;

6   ;

7     ;

8   do

9   search nearby parking spots according to ;

10   ;

11   ;

12 for each do

13 utilize GA to plan the paths of at ;

14 calculate the based on ;

15 calculate the current when visit ;

16 ;

17   if then

18   ;

19 ;

20   ;

21   

22 end

23 end

24 ;

25 ;

26 ;

27 ;

28  

29 end

30 select the vehicle with maximum

31

32 ;

33 while

34 return