Algorithm 5: Simulation Annealing Method for UAV flight path planning

Input:

CH coordinates $C_j^k=\left\{\left(x_1^k, y_1^k\right), \left(x_2^k, y_2^k\right), \dots ., \left(x_j^k, y_j^k\right)\right\}$, $t_0$, $t_F$

Output:

UAV flight route sequence target points $D^v$ and $v_{min}\left(l\right)$

Steps:

1: while ($t>t_f$)

2:    create a new Hamiltonian circuit $l_{m+1}$ and calculate $v(l_{m+1})$

3:    $dv \leftarrow v\left(l^m\right)-v\left(l^{m+1}\right)$

4:    if ($dv<0)$ // calculate probability of acceptance $p$

5:      $p \leftarrow 1$

6:    Else

7:      $p \leftarrow e^{-\frac{dv}{T}}$

8:    End if

9:    if rand() ≤ $p$

10:      update $D^v$ using $l_{m+1}$ and $v_{min}\left(l\right)=v\left(l_{m+1}\right)$

11:    Else

12:      discard $l_{m+1}$

13:    End if

14:    update the $t :t \leftarrow \alpha t_0$

15: End while

16: return $D^v$ and the $v_{min}\left(l\right)$