Advances, Systems and Applications
Symbol | Description | Symbol | Description |
---|---|---|---|
A | Geographical area | te | Type of the point |
G | Instance of CPP model | sn | Sequentially number of point |
\(V_{Ai}\) | A-Type point | \(V_{Ni}\) | N-Type point |
NR | NFZ rectangle | \(P_i\) | Planned path |
coord(x, y) | Coordinate of point | \(SP_i\) | Sub-path consisting of partial points of the path |
\(LS_i\) | line segment | VAS | Set of A-Type points |
VNS | Set of N-Type points | NFZS | Set of line segments to define NFZs |
\(\nu\) | UAV speed | \(\psi\) | UAV rotation rate |
\(\beta\) | Total distance of a path | \(\varphi\) | Total turning angles of a path |
\(\Xi\) | Total energy consumption of a path | \(\tau\) | Total completion time of a path |
S | The solution archive | n | Number of solutions in solution Archive |
m | Number of variables in solution vector | \(s_i\) | The i-th solution int solution archive |
\(s_i^j\) | Value of the j-th variable in the i-th solution | \(\omega _i\) | selection weight of the i-th vector in the archive |
\(\eta\) | The size of search solution archiving area | C | The self-adaptive parameter archive |
Cmax | Array of parameter maximum values | Cmin | Array of parameter minimum values |
a | Number of parameters in parameter Archive | b | Number of parameters in parameter vector |
\(c_i\) | The i-th parameter vector int archive | \(c_i^j\) | the j-th parameter in the i-th parameter vector |
\(\mu\) | the mean value of Gaussian function | \(\sigma\) | the mean square error of Gaussian function |
\(d_{ij}^l\) | distance from vertex i to j in the l-th iteration | \(\xi\) | The convergence speed of parameter archive |
\(\theta\) | The size of search parameter archiving area | \(\lambda\) | Energy consumption per meter of length |
\(\gamma\) | Energy consumption per degree of turn angle | q | Number of ants for each thread |
TdNum | Number of parallel threads | Itmax | Maximum number of iterations |
Itmax2 | Maximum iteration number of finding no better solution | ||
PM | Sub-paths matrix between any two points in VAS after avoiding NFZs |