Algorithm 3: Multi-objective area coverage optimization algorithm based on IAPSO

Input: Sensor nodes group: $s=\left\{s_1,s_2,\dots ,s_n\right\}$

Predefined swarm size: $num$

Number of dimensions of particles: $D_1=n$

Largest number of iterations: maxnumber

Output: Coverage ratio and redundancy ratio: CoverageRatio, RedundancyRatio

1: Initialize particle $P_{1i},\forall i,j,1\le i\le num,1\le j\le D_1=n$, $X_{1i,j}\left(0\right)=\left(x_{1i,j}\left(0\right),y_{1i,j}\left(0\right)\right)$

2: for $i=1$ $to$ $num$ do

3:       (1) Calculate $Fitness1\left(P_{1i}\right)$, Using Equation (12)

4:       (2) $P_{1besti}=P_{1i}$

5: end for

6: $G_{1best}=\left\{P_{1besti}|Fitness1\left(P_{1besti}\right)=min\left(Fitness\left(P_{1besti}\right),\forall i,1\le i\le num\right)\right\}$

7: for $t=1$ $to$ $maxnumber$ do

8:       for $i=1$ $to$ $num$ do

9:             (1) Update velocity and position of $P_{1i}$ using Equations (18) and (19)

10:           (2) Calculate $Fitness1\left(P_{1i}\right)$, update $P_{1besti}$ and $G_{1besti}$

11:           (3) Calculate the coverage ratio and redundancy ratio using Equations (10) and (11)

12:      end for

13: end for