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

Algorithm 3

Plan the paths of UAVs.

Input The parking spot ,

the set of corresponding detecting points ,

the UAVs

Output Optimal routes of UAVs

1 generate initial population ,

;

2 for do

3   calculate the fitness of each individual in ;

4   ;

5   for do

6    select two individuals from according

to the fitness function

7   if perform crossover to generate a child

8   

9   end

10    if

11   perform mutation on ;

12   end

13   ;

14   end

15   ;

16 end

17 select the individual in with maximum fitness;

18 return ;