Inferring the Optimum UAV's Trajectories Configuration Over Definite Intruder Paths with Multiple Random Starting Points Via Genetic Algorithm - Taking into consideration a set of synchronized UAV's - (Provided with the relevant Matlab Code).

1. Genetic Trial #1
Inferring the Optimum UAV's Trajectories Configuration Over Definite Intruder
Paths with Multiple Random Starting Points Via Genetic Algorithm.

2. Genetic Trial #2

3. Genetic Trial #3

4. Genetic Trial #4

5. Genetic Trial #5

6. %Generic Algorithm for function f(x1,x2,x3,........) optimum UAV
Trajectories Allocation over Different Intruder Paths with Random
Starting Points.
Dx_Time=0;
Dx10_Time=0;
Dx20_Time=0;
Dx30_Time=0;
Dx4_Time=0;
Dx0_Time=0;
Dx11_Time=0;
Dx21_Time=0;
Dx31_Time=0;
Dx41_Time=0;
Dx1_Time=0;
Dx12_Time=0;
Dx22_Time=0;
Dx32_Time=0;
Dx42_Time=0;
Dx2_Time=0;
Dx13_Time=0;
Dx23_Time=0;
Dx33_Time=0;
Dx43_Time=0;
Dx3_Time=0;
Dx14_Time=0;
Dx24_Time=0;
Dx34_Time=0;
Dx44_Time=0;
%Parameters
mar=40;
mar1=50;
mar2=50;
Size=40;
G=5;
CodeL=10;
W0_max=20000/2;
W0_min=10000/2;
W1_max=20000/2;
W1_min=10000/2;
W2_max=20000/2;
W2_min=10000/2;
W3_max=20000/2;
W3_min=10000/2;
W4_max=20000/2;
W4_min=10000/2;
L0_max=100000/2;
L0_min=20000/2;

7. L1_max=100000/2;
L1_min=20000/2;
L2_max=100000/2;
L2_min=20000/2;
L3_max=100000/2;
L3_min=20000/2;
L4_max=100000/2;
L4_min=20000/2;
th0_max=pi/3;
th0_min=-pi/3;
th1_max=pi/3;
th1_min=-pi/3;
th2_max=pi/3;
th2_min=-pi/3;
th3_max=pi/3;
th3_min=-pi/3;
th4_max=pi/3;
th4_min=-pi/3;
lat0_max=80000;
lat0_min=0;
lat1_max=80000;
lat1_min=0;
lat2_max=80000;
lat2_min=0;
lat3_max=80000;
lat3_min=0;
lat4_max=80000;
lat4_min=0;
long0_max=30000;
long0_min=10000;
long1_max=30000;
long1_min=10000;
long2_max=30000;
long2_min=10000;
long3_max=30000;
long3_min=10000;
long4_max=30000;
long4_min=10000;
E=round(rand(Size,25*CodeL)); %Initial Code
%Main Program

8. for k=1:1:G
hhh=k
time(k)=k;
for s=1:1:Size
ssss=s
clear RTG RTYG RTG1 RTYG1 RTG2 RTYG2 RTG3 RTYG3 RTG4 RTYG4
clear y1=0 y2=0 y3=0 y4=0 y5=0 y6=0 y7=0 y8=0 y9=0 y10=0 y11=0 y12=0
y13=0 y14=0 y15=0 y16=0 y17=0 y18=0 y19=0 y20=0 y21=0 y22=0 y23=0 y24=0
y25=0
m=E(s,:);
y1=0;y2=0;y3=0;y4=0;y5=0;y6=0;y7=0;y8=0;y9=0;y10=0;y11=0;y12=0;y13=0;y1
4=0;y15=0;y16=0;y17=0;y18=0;y19=0;y20=0;y21=0;y22=0;y23=0;y24=0;y25=0;
%Uncoding
m1=m(1:1:CodeL);
for i=1:1:CodeL
y1=y1+m1(i)*2^(i-1);
end
W0=2*round((W0_max-W0_min)*y1/1023+W0_min);
m2=m(CodeL+1:1:2*CodeL);
for i=1:1:CodeL
y2=y2+m2(i)*2^(i-1);
end
W1=2*round((W1_max-W1_min)*y2/1023+W1_min);
m3=m(2*CodeL+1:1:3*CodeL);
for i=1:1:CodeL
y3=y3+m3(i)*2^(i-1);
end
W2=2*round((W2_max-W2_min)*y3/1023+W2_min);
m4=m(3*CodeL+1:1:4*CodeL);
for i=1:1:CodeL
y4=y4+m4(i)*2^(i-1);
end
W3=2*round((W3_max-W3_min)*y4/1023+W3_min);
m5=m(4*CodeL+1:1:5*CodeL);
for i=1:1:CodeL
y5=y5+m5(i)*2^(i-1);
end
W4=2*round((W4_max-W4_min)*y5/1023+W4_min);

9. m6=m(5*CodeL+1:1:6*CodeL);
for i=1:1:CodeL
y6=y6+m6(i)*2^(i-1);
end
L0=2*round((L0_max-L0_min)*y6/1023+L0_min);
m7=m(6*CodeL+1:1:7*CodeL);
for i=1:1:CodeL
y7=y7+m7(i)*2^(i-1);
end
L1=2*round((L1_max-L1_min)*y7/1023+L1_min);
m8=m(7*CodeL+1:1:8*CodeL);
for i=1:1:CodeL
y8=y8+m8(i)*2^(i-1);
end
L2=2*round((L2_max-L2_min)*y8/1023+L2_min);
m9=m(8*CodeL+1:1:9*CodeL);
for i=1:1:CodeL
y9=y9+m9(i)*2^(i-1);
end
L3=2*round((L3_max-L3_min)*y9/1023+L3_min);
m10=m(9*CodeL+1:1:10*CodeL);
for i=1:1:CodeL
y10=y10+m10(i)*2^(i-1);
end
L4=2*round((L4_max-L4_min)*y10/1023+L4_min);
m11=m(10*CodeL+1:1:11*CodeL);
for i=1:1:CodeL
y11=y11+m11(i)*2^(i-1);
end
th0=(th0_max-th0_min)*y11/1023+th0_min;
m12=m(11*CodeL+1:1:12*CodeL);
for i=1:1:CodeL
y12=y12+m12(i)*2^(i-1);
end
th1=(th1_max-th1_min)*y12/1023+th1_min;
m13=m(12*CodeL+1:1:13*CodeL);
for i=1:1:CodeL
y13=y13+m13(i)*2^(i-1);
end

10. th2=(th2_max-th2_min)*y13/1023+th2_min;
m14=m(13*CodeL+1:1:14*CodeL);
for i=1:1:CodeL
y14=y14+m14(i)*2^(i-1);
end
th3=(th3_max-th3_min)*y14/1023+th3_min;
m15=m(14*CodeL+1:1:15*CodeL);
for i=1:1:CodeL
y15=y15+m15(i)*2^(i-1);
end
th4=(th4_max-th4_min)*y15/1023+th4_min;
m16=m(15*CodeL+1:1:16*CodeL);
for i=1:1:CodeL
y16=y16+m16(i)*2^(i-1);
end
lat0=(lat0_max-lat0_min)*y16/1023+lat0_min;
m17=m(16*CodeL+1:1:17*CodeL);
for i=1:1:CodeL
y17=y17+m17(i)*2^(i-1);
end
lat1=(lat1_max-lat1_min)*y17/1023+lat1_min;
m18=m(17*CodeL+1:1:18*CodeL);
for i=1:1:CodeL
y18=y18+m18(i)*2^(i-1);
end
lat2=(lat2_max-lat2_min)*y18/1023+lat2_min;
m19=m(18*CodeL+1:1:19*CodeL);
for i=1:1:CodeL
y19=y19+m19(i)*2^(i-1);
end
lat3=(lat3_max-lat3_min)*y19/1023+lat3_min;
m20=m(19*CodeL+1:1:20*CodeL);
for i=1:1:CodeL
y20=y20+m20(i)*2^(i-1);
end
lat4=(lat4_max-lat4_min)*y20/1023+lat4_min;
m21=m(20*CodeL+1:1:21*CodeL);
for i=1:1:CodeL
y21=y21+m21(i)*2^(i-1);
end
long0=(long0_max-long0_min)*y21/1023+long0_min;
m22=m(21*CodeL+1:1:22*CodeL);

11. for i=1:1:CodeL
y22=y22+m22(i)*2^(i-1);
end
long1=(long1_max-long1_min)*y22/1023+long1_min;
m23=m(22*CodeL+1:1:23*CodeL);
for i=1:1:CodeL
y23=y23+m23(i)*2^(i-1);
end
long2=(long2_max-long2_min)*y23/1023+long2_min;
m24=m(23*CodeL+1:1:24*CodeL);
for i=1:1:CodeL
y24=y24+m24(i)*2^(i-1);
end
long3=(long3_max-long3_min)*y24/1023+long3_min;
m25=m(24*CodeL+1:1:25*CodeL);
for i=1:1:CodeL
y25=y25+m25(i)*2^(i-1);
end
long4=(long4_max-long4_min)*y25/1023+long4_min;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
P=0;
F_P=0;
for P=1:1:50
P=P+1;
%%%%%Intruder trajectory determination
Ts=1;
IT_v=15;
ds=Ts*IT_v;
shift_x=rand(1)*20000;
shift_x1=rand(1)*20000;
shift_x2=rand(1)*20000;
shift_x3=rand(1)*20000;
shift_x4=rand(1)*20000;
shift_x5=rand(1)*20000;
shift_y=5000;
shift_y1=20000;
shift_y2=45000;
shift_y3=55000;
shift_y4=80000;
shift_y5=93000;
a=0.0001;
b=0.0001;
c=0.0001;

12. d=4000;
e=4000;
g=4000;
x0=0;
y0=0;
f0=0;
x(1)=rand(1)*20000;
f(1)=d*sin(a*x(1))+shift_y;
f1(1)=d*sin(a*x(1))+shift_y;
x01=0;
y01=0;
f01=0;
x1(1)=rand(1)*20000;
f01(1)=e*sin(b*x1(1))+shift_y1;
f11(1)=e*sin(b*x1(1))+shift_y1;
x02=0;
y02=0;
f02=0;
x2(1)=rand(1)*20000;
f02(1)=g*sin(c*x2(1))+shift_y2;
f12(1)=g*sin(c*x2(1))+shift_y2;
x03=0;
y03=0;
f03=0;
x3(1)=rand(1)*20000;
f03(1)=d*cos(a*x3(1))+shift_y3;
f13(1)=d*cos(a*x3(1))+shift_y3;
x04=0;
y04=0;
f04=0;
x4(1)=rand(1)*20000;
f04(1)=e*cos(b*x4(1))+shift_y4;
f14(1)=e*cos(b*x4(1))+shift_y4;
x05=0;
y05=0;
f05=0;
x5(1)=rand(1)*20000;
f05(1)=g*cos(c*x5(1))+shift_y5;
f15(1)=g*cos(c*x5(1))+shift_y5;

13. for i=1:1:4000
df=a*d*cos(a*x(i));
dx=cos(atan(df))*ds;
x(i+1)=x(i)+dx;
f(i+1)=d*sin(a*(i));
f1(i+1)=d*sin(a*x(i+1))+shift_y;
df1=b*e*cos(b*x1(i));
dx1=cos(atan(df1))*ds;
x1(i+1)=x1(i)+dx1;
f01(i+1)=e*sin(b*(i));
f11(i+1)=e*sin(b*x1(i+1))+shift_y1;
df2=c*g*cos(c*x2(i));
dx2=cos(atan(df2))*ds;
x2(i+1)=x2(i)+dx2;
f02(i+1)=g*sin(c*(i));
f12(i+1)=g*sin(c*x2(i+1))+shift_y2;
df3=-a*d*sin(a*x3(i));
dx3=cos(atan(df3))*ds;
x3(i+1)=x3(i)+dx3;
f03(i+1)=d*cos(a*(i));
f13(i+1)=d*cos((a*x3(i+1)))+shift_y3;
df4=-b*e*sin(b*x4(i));
dx4=cos(atan(df4))*ds;
x4(i+1)=x4(i)+dx4;
f04(i+1)=e*cos(b*(i));
f14(i+1)=e*cos((b*x1(i+1)))+shift_y4;
df5=-c*g*sin(c*x5(i));
dx5=cos(atan(df5))*ds;
x5(i+1)=x5(i)+dx5;
f05(i+1)=g*cos(c*(i));
f15(i+1)=g*cos((c*x5(i+1)))+shift_y5;
end
u=0:1:99;

14. %plot(x+shift_x,f1+shift_y,x1+shift_x1,f11+shift_y1,x2+shift_x2,f12+shi
ft_y2,x3+shift_x3,f13+shift_y3,x4+shift_x4,f14+shift_y4,x5+shift_x5,f15
+shift_y5)
%plot(x,f1,x1,f11,x2,f12,x3,f13,x4,f14,x5,f15)
%plot(u,f,x,f1)
RT0_x0=0;
RT1_x0=0;
RT2_x0=0;
RT3_x0=0;
RT4_x0=0;
RT5_x0=0;
RT0_y0=0;
RT1_y0=0;
RT2_y0=0;
RT3_y0=0;
RT4_y0=0;
RT5_y0=0;
RT0_v=35;
RT1_v=35;
RT2_v=35;
RT3_v=35;
RT4_v=35;
RT5_v=35;
RT0_D=RT0_v*Ts;
RT1_D=RT1_v*Ts;
RT2_D=RT2_v*Ts;
RT3_D=RT3_v*Ts;
RT4_D=RT4_v*Ts;
RT5_D=RT5_v*Ts;
R0=W0/2;R1=W1/2;R2=W2/2;R3=W3/2;R4=W4/2;
Q0=L0/2;Q1=L1/2;Q2=L2/2;Q3=L3/2;Q4=L4/2;
RTG=0;
RTG1=0;
RTG2=0;
RTG3=0;
RTG4=0;
for W=1:1:4
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%Next location on the first
flight path
if RT0_y0>=0

15. KK=0;
T=length(RTG);
while Q0-RT0_x0>0.1 && RT0_x0+Q0>0.1|| -RT0_x0+Q0<0.1
KK=KK+1;
if RT0_x0>=0 && RT0_x0<=(Q0-R0)
RT0_xn=RT0_x0-RT0_D;
RT0_yn=R0;
else
if RT0_x0<0 && RT0_x0>(Q0-R0)*(-1)
if (RT0_x0+(Q0-R0))<=mar
RT0_xn=-1*(Q0-R0);
RT0_yn=R0;
else
RT0_xn=RT0_x0-RT0_D;
RT0_yn=R0;
end
else
if RT0_x0>(Q0-R0) && RT0_x0<Q0
if (RT0_x0-(Q0-R0))<=mar1
RT0_xn=(Q0-R0);
RT0_yn=R0;
else
RT0_xn= R0*cos((RT0_D/R0)+acos(((RT0_x0)-(Q0-R0))/R0))+(Q0-R0);
RT0_yn=((R0)^2-(RT0_xn-(Q0-R0))^2)^0.5;
end
else
if RT0_x0<=(-1)*(Q0-R0) && RT0_x0>-Q0
RT0_xn= -R0*cos(((-1)*RT0_D/R0)+acos((((-1)*RT0_x0)-(Q0-R0))/R0))-
(Q0-R0);
RT0_yn=((R0)^2-((-RT0_xn)-(Q0-R0))^2)^0.5;
else
end
end

16. end
end
RT0_x0=RT0_xn;
RT(KK)=RT0_xn;
RTY(KK)=RT0_yn;
RTG(T+KK-1)=RT(KK);
RTYG(T+KK-1)=RTY(KK);
RTG(T+KK-1)=(RTG(T+KK-1)*cos(th0)-RTYG(T+KK-
1)*tan(th0)*cos(th0))+long0;
RTYG(T+KK-1)=(RTG(T+KK-1)*cos(th0)-RTYG(T+KK-
1)*tan(th0)*cos(th0))*tan(th0)+RTYG(T+KK-1)/cos(th0)+lat0;
if RT0_yn<mar
RT0_y0=-1;
else
end
end
elseif RT0_y0<0
T=length(RTG);
KK=0;
while (Q0-RT0_x0>0.1 && RT0_x0+Q0>0.1)|| RT0_x0+Q0<0.1
% for KK=1:1:2928
KK=KK+1;
if RT0_x0>=0 && RT0_x0<=(Q0-R0)
if (RT0_x0+(Q0-R0))<=mar
RT0_xn=(Q0-R0);
RT0_yn=-R0;
else
RT0_xn=RT0_x0+RT0_D;
RT0_yn=-R0;
end
else

17. if RT0_x0<0 && RT0_x0>=(Q0-R0)*(-1)
RT0_xn=RT0_x0+RT0_D;
RT0_yn=-R0;
else
if RT0_x0>=(Q0-R0) && RT0_x0<Q0
RT0_xn= R0*cos((-RT0_D/R0)+acos(((RT0_x0)-(Q0-R0))/R0))+(Q0-R0);
RT0_yn=-((R0)^2-(RT0_xn-(Q0-R0))^2)^0.5;
else
if RT0_x0<=(-1)*(Q0-R0) && RT0_x0>-Q0
if (RT0_x0+(Q0-R0))>=-mar1
RT0_xn=-(Q0-R0);
RT0_yn=-R0;
else
RT0_xn= -R0*cos((RT0_D/R0)+acos((((-1)*RT0_x0)-(Q0-R0))/R0))-(Q0-
R0);
RT0_yn=-((R0)^2-((-RT0_xn)-(Q0-R0))^2)^0.5;
end
else
end
end
end
end

18. RT0_x0=RT0_xn;
RT1(KK)=RT0_xn;
RTY1(KK)=RT0_yn;
RTG(T+KK-1)=RT1(KK);
RTYG(T+KK-1)=RTY1(KK);
RTG(T+KK-1)=(RTG(T+KK-1)*cos(th0)-RTYG(T+KK-
1)*tan(th0)*cos(th0))+long0;
RTYG(T+KK-1)=(RTG(T+KK-1)*cos(th0)-RTYG(T+KK-
1)*tan(th0)*cos(th0))*tan(th0)+RTYG(T+KK-1)/cos(th0)+lat0;
if RT0_yn>-mar2
RT0_y0=1;
else
end
end
end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%Next location on the second
flight path
if RT1_y0>=0
KK=0;
T1=length(RTG1);
while Q1-RT1_x0>0.1 && RT1_x0+Q1>0.1|| -RT1_x0+Q1<0.1
% for KK=1:1:2928
KK=KK+1;
if RT1_x0>=0 && RT1_x0<=(Q1-R1)
RT1_xn=RT1_x0-RT1_D;
RT1_yn=R1;
else
if RT1_x0<0 && RT1_x0>(Q1-R1)*(-1)
if (RT1_x0+(Q1-R1))<=mar

19. RT1_xn=-1*(Q1-R1);
RT1_yn=R1;
else
RT1_xn=RT1_x0-RT1_D;
RT1_yn=R1;
end
else
if RT1_x0>(Q1-R1) && RT1_x0<Q1
if (RT1_x0-(Q1-R1))<=mar1
RT1_xn=(Q1-R1);
RT1_yn=R1;
else
RT1_xn= R1*cos((RT1_D/R1)+acos(((RT1_x0)-(Q1-R1))/R1))+(Q1-R1);
RT1_yn=((R1)^2-(RT1_xn-(Q1-R1))^2)^0.5;
end
else
if RT1_x0<=(-1)*(Q1-R1) && RT1_x0>-Q1
RT1_xn= -R1*cos(((-1)*RT1_D/R1)+acos((((-1)*RT1_x0)-(Q1-R1))/R1))-
(Q1-R1);
RT1_yn=((R1)^2-((-RT1_xn)-(Q1-R1))^2)^0.5;
else
end
end
end
end
RT1_x0=RT1_xn;
RT2(KK)=RT1_xn;
RTY2(KK)=RT1_yn;
RTG1(T1+KK-1)=RT2(KK);
RTYG1(T1+KK-1)=RTY2(KK);
RTG1(T1+KK-1)=(RTG1(T1+KK-1)*cos(th1)-RTYG1(T1+KK-
1)*tan(th1)*cos(th1))+long1;

20. RTYG1(T1+KK-1)=(RTG1(T1+KK-1)*cos(th1)-RTYG1(T1+KK-
1)*tan(th1)*cos(th1))*tan(th1)+RTYG1(T1+KK-1)/cos(th1)+lat1;
if RT1_yn<mar2
RT1_y0=-1;
else
end
end
elseif RT1_y0<0
T1=length(RTG1);
KK=0;
while (Q1-RT1_x0>0.1 && RT1_x0+Q1>0.1)|| RT1_x0+Q1<0.1
% for KK=1:1:2928
KK=KK+1;
if RT1_x0>=0 && RT1_x0<=(Q1-R1)
if (RT1_x0+(Q1-R1))<=mar
RT1_xn=(Q1-R1);
RT1_yn=-R1;
else
RT1_xn=RT1_x0+RT1_D;
RT1_yn=-R1;
end
else
if RT1_x0<0 && RT1_x0>=(Q1-R1)*(-1)
RT1_xn=RT1_x0+RT1_D;
RT1_yn=-R1;
else
if RT1_x0>=(Q1-R1) && RT1_x0<Q1
RT1_xn= R1*cos((-RT1_D/R1)+acos(((RT1_x0)-(Q1-R1))/R1))+(Q1-R1);
RT1_yn=-((R1)^2-(RT1_xn-(Q1-R1))^2)^0.5;
else

21. if RT1_x0<=(-1)*(Q1-R1) && RT1_x0>-Q1
if (RT1_x0+(Q1-R1))>=-mar1
RT1_xn=-(Q1-R1);
RT1_yn=-R1;
else
RT1_xn= -R1*cos((RT1_D/R1)+acos((((-1)*RT1_x0)-(Q1-R1))/R1))-(Q1-
R1);
RT1_yn=-((R1)^2-((-RT1_xn)-(Q1-R1))^2)^0.5;
end
else
end
end
end
end
RT1_x0=RT1_xn;
RT3(KK)=RT1_xn;
RTY3(KK)=RT1_yn;
RTG1(T1+KK-1)=RT3(KK);
RTYG1(T1+KK-1)=RTY3(KK);
RTG1(T1+KK-1)=(RTG1(T1+KK-1)*cos(th1)-RTYG1(T1+KK-
1)*tan(th1)*cos(th1))+long1;
RTYG1(T1+KK-1)=(RTG1(T1+KK-1)*cos(th1)-RTYG1(T1+KK-
1)*tan(th1)*cos(th1))*tan(th1)+RTYG1(T1+KK-1)/cos(th1)+lat1;
if RT1_yn>-mar2
RT1_y0=1;
else
end
end

22. end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%Next location on the third
flight path
if RT2_y0>=0
KK=0;
T2=length(RTG2);
while Q2-RT2_x0>0.1 && RT2_x0+Q2>0.1|| -RT2_x0+Q2<0.1
% for KK=1:1:2928
KK=KK+1;
if RT2_x0>=0 && RT2_x0<=(Q2-R2)
RT2_xn=RT2_x0-RT2_D;
RT2_yn=R2;
else
if RT2_x0<0 && RT2_x0>(Q2-R2)*(-1)
if (RT2_x0+(Q2-R2))<=mar
RT2_xn=-1*(Q2-R2);
RT2_yn=R2;
else
RT2_xn=RT2_x0-RT2_D;
RT2_yn=R2;
end
else
if RT2_x0>(Q2-R2) && RT2_x0<Q2
if (RT2_x0-(Q2-R2))<=mar1
RT2_xn=(Q2-R2);
RT2_yn=R2;
else
RT2_xn= R2*cos((RT2_D/R2)+acos(((RT2_x0)-(Q2-R2))/R2))+(Q2-R2);
RT2_yn=((R2)^2-(RT2_xn-(Q2-R2))^2)^0.5;
end
else

23. if RT2_x0<=(-1)*(Q2-R2) && RT2_x0>-Q2
RT2_xn= -R2*cos(((-1)*RT2_D/R2)+acos((((-1)*RT2_x0)-(Q2-R2))/R2))-
(Q2-R2);
RT2_yn=((R2)^2-((-RT2_xn)-(Q2-R2))^2)^0.5;
else
end
end
end
end
RT2_x0=RT2_xn;
RT4(KK)=RT2_xn;
RTY4(KK)=RT2_yn;
RTG2(T2+KK-1)=RT4(KK);
RTYG2(T2+KK-1)=RTY4(KK);
RTG2(T2+KK-1)=(RTG2(T2+KK-1)*cos(th2)-RTYG2(T2+KK-
1)*tan(th2)*cos(th2))+long2;
RTYG2(T2+KK-1)=(RTG2(T2+KK-1)*cos(th2)-RTYG2(T2+KK-
1)*tan(th2)*cos(th2))*tan(th2)+RTYG2(T2+KK-1)/cos(th2)+lat2;
if RT2_yn<mar2
RT2_y0=-1;
else
end
end
elseif RT2_y0<0
T2=length(RTG2);
KK=0;
while (Q2-RT2_x0>0.1 && RT2_x0+Q2>0.1)|| RT2_x0+Q2<0.1

24. % for KK=1:1:2928
KK=KK+1;
if RT2_x0>=0 && RT2_x0<=(Q2-R2)
if (RT2_x0+(Q2-R2))<=mar1
RT2_xn=(Q2-R2);
RT2_yn=-R2;
else
RT2_xn=RT2_x0+RT2_D;
RT2_yn=-R2;
end
else
if RT2_x0<0 && RT2_x0>=(Q2-R2)*(-1)
RT2_xn=RT2_x0+RT2_D;
RT2_yn=-R2;
else
if RT2_x0>=(Q2-R2) && RT2_x0<Q2
RT2_xn= R2*cos((-RT2_D/R2)+acos(((RT2_x0)-(Q2-R2))/R2))+(Q2-R2);
RT2_yn=-((R2)^2-(RT2_xn-(Q2-R2))^2)^0.5;
else
if RT2_x0<=(-1)*(Q2-R2) && RT2_x0>-Q2
if (RT2_x0+(Q2-R2))>=-mar1
RT2_xn=-(Q2-R2);
RT2_yn=-R2;
else
RT2_xn= -R2*cos((RT2_D/R2)+acos((((-1)*RT2_x0)-(Q2-R2))/R2))-(Q2-
R2);
RT2_yn=-((R2)^2-((-RT2_xn)-(Q2-R2))^2)^0.5;
end
else

25. end
end
end
end
RT2_x0=RT2_xn;
RT5(KK)=RT2_xn;
RTY5(KK)=RT2_yn;
RTG2(T2+KK-1)=RT5(KK);
RTYG2(T2+KK-1)=RTY5(KK);
RTG2(T2+KK-1)=(RTG2(T2+KK-1)*cos(th2)-RTYG2(T2+KK-
1)*tan(th2)*cos(th2))+long2;
RTYG2(T2+KK-1)=(RTG2(T2+KK-1)*cos(th2)-RTYG2(T2+KK-
1)*tan(th2)*cos(th2))*tan(th2)+RTYG2(T2+KK-1)/cos(th2)+lat2;
if RT2_yn>-mar2
RT2_y0=1;
else
end
end
end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%Next location on the fourth
flight path
if RT3_y0>=0
T3=length(RTG3);

26. KK=0;
while Q3-RT3_x0>0.1 && RT3_x0+Q3>0.1|| -RT3_x0+Q3<0.1
% for KK=1:1:2928
KK=KK+1;
if RT3_x0>=0 && RT3_x0<=(Q3-R3)
RT3_xn=RT3_x0-RT3_D;
RT3_yn=R3;
else
if RT3_x0<0 && RT3_x0>(Q3-R3)*(-1)
if (RT3_x0+(Q3-R3))<=mar
RT3_xn=-1*(Q3-R3);
RT3_yn=R3;
else
RT3_xn=RT3_x0-RT3_D;
RT3_yn=R3;
end
else
if RT3_x0>(Q3-R3) && RT3_x0<Q3
if (RT3_x0-(Q3-R3))<=mar1
RT3_xn=(Q3-R3);
RT3_yn=R3;
else
RT3_xn= R3*cos((RT3_D/R3)+acos(((RT3_x0)-(Q3-R3))/R3))+(Q3-R3);
RT3_yn=((R3)^2-(RT3_xn-(Q3-R3))^2)^0.5;
end
else
if RT3_x0<=(-1)*(Q3-R3) && RT3_x0>-Q3
RT3_xn= -R3*cos(((-1)*RT3_D/R3)+acos((((-1)*RT3_x0)-(Q3-R3))/R3))-
(Q3-R3);
RT3_yn=((R3)^2-((-RT3_xn)-(Q3-R3))^2)^0.5;
else
end
end

27. end
end
RT3_x0=RT3_xn;
RT6(KK)=RT3_xn;
RTY6(KK)=RT3_yn;
RTG3(T3+KK-1)=RT6(KK);
RTYG3(T3+KK-1)=RTY6(KK);
RTG3(T3+KK-1)=(RTG3(T3+KK-1)*cos(th3)-RTYG3(T3+KK-
1)*tan(th3)*cos(th3))+long3;
RTYG3(T3+KK-1)=(RTG3(T3+KK-1)*cos(th3)-RTYG3(T3+KK-
1)*tan(th3)*cos(th3))*tan(th3)+RTYG3(T3+KK-1)/cos(th3)+lat3;
if RT3_yn<mar2
RT3_y0=-1;
else
end
end
elseif RT3_y0<0
T3=length(RTG3);
KK=0;
while (Q3-RT3_x0>0.1 && RT3_x0+Q3>0.1)|| RT3_x0+Q3<0.1
% for KK=1:1:2928
KK=KK+1;
if RT3_x0>=0 && RT3_x0<=(Q3-R3)
if (RT3_x0+(Q3-R3))<=mar
RT3_xn=(Q3-R3);
RT3_yn=-R3;
else
RT3_xn=RT3_x0+RT3_D;
RT3_yn=-R3;
end
else

28. if RT3_x0<0 && RT3_x0>=(Q3-R3)*(-1)
RT3_xn=RT3_x0+RT3_D;
RT3_yn=-R3;
else
if RT3_x0>=(Q3-R3) && RT3_x0<Q3
RT3_xn= R3*cos((-RT3_D/R3)+acos(((RT3_x0)-(Q3-R3))/R3))+(Q3-R3);
RT3_yn=-((R3)^2-(RT3_xn-(Q3-R3))^2)^0.5;
else
if RT3_x0<=(-1)*(Q3-R3) && RT3_x0>-Q3
if (RT3_x0+(Q3-R3))>=-mar1
RT3_xn=-(Q3-R3);
RT3_yn=-R3;
else
RT3_xn= -R3*cos((RT3_D/R3)+acos((((-1)*RT3_x0)-(Q3-R3))/R3))-(Q3-
R3);
RT3_yn=-((R3)^2-((-RT3_xn)-(Q3-R3))^2)^0.5;
end
else
end
end
end
end

29. RT3_x0=RT3_xn;
RT7(KK)=RT3_xn;
RTY7(KK)=RT3_yn;
RTG3(T3+KK-1)=RT7(KK);
RTYG3(T3+KK-1)=RTY7(KK);
RTG3(T3+KK-1)=(RTG3(T3+KK-1)*cos(th3)-RTYG3(T3+KK-
1)*tan(th3)*cos(th3))+long3;
RTYG3(T3+KK-1)=(RTG3(T3+KK-1)*cos(th3)-RTYG3(T3+KK-
1)*tan(th3)*cos(th3))*tan(th3)+RTYG3(T3+KK-1)/cos(th3)+lat3;
if RT3_yn>-mar2
RT3_y0=1;
else
end
end
end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%Next location on the fifth
flight path
if RT4_y0>=0
T4=length(RTG4);
KK=0;
while Q4-RT4_x0>0.1 && RT4_x0+Q4>0.1|| -RT4_x0+Q4<0.1
% for KK=1:1:2928
KK=KK+1;
if RT4_x0>=0 && RT4_x0<=(Q4-R4)
RT4_xn=RT4_x0-RT4_D;
RT4_yn=R4;
else

30. if RT4_x0<0 && RT4_x0>(Q4-R4)*(-1)
if (RT4_x0+(Q4-R4))<=mar
RT4_xn=-1*(Q4-R4);
RT4_yn=R4;
else
RT4_xn=RT4_x0-RT4_D;
RT4_yn=R4;
end
else
if RT4_x0>(Q4-R4) && RT4_x0<Q4
if (RT4_x0-(Q4-R4))<=mar1
RT4_xn=(Q4-R4);
RT4_yn=R4;
else
RT4_xn= R4*cos((RT4_D/R4)+acos(((RT4_x0)-(Q4-R4))/R4))+(Q4-R4);
RT4_yn=((R4)^2-(RT4_xn-(Q4-R4))^2)^0.5;
end
else
if RT4_x0<=(-1)*(Q4-R4) && RT4_x0>-Q4
RT4_xn= -R4*cos(((-1)*RT4_D/R4)+acos((((-1)*RT4_x0)-(Q4-R4))/R4))-
(Q4-R4);
RT4_yn=((R4)^2-((-RT4_xn)-(Q4-R4))^2)^0.5;
else
end
end
end
end
RT4_x0=RT4_xn;
RT8(KK)=RT4_xn;
RTY8(KK)=RT4_yn;

31. RTG4(T4+KK-1)=RT8(KK);
RTYG4(T4+KK-1)=RTY8(KK);
RTG4(T4+KK-1)=(RTG4(T4+KK-1)*cos(th4)-RTYG4(T4+KK-
1)*tan(th4)*cos(th4))+long4;
RTYG4(T4+KK-1)=(RTG4(T4+KK-1)*cos(th4)-RTYG4(T4+KK-
1)*tan(th4)*cos(th4))*tan(th4)+RTYG4(T4+KK-1)/cos(th4)+lat4;
if RT4_yn<mar2
RT4_y0=-1;
else
end
end
elseif RT4_y0<0
T4=length(RTG4);
KK=0;
while (Q4-RT4_x0>0.1 && RT4_x0+Q4>0.1)|| RT4_x0+Q4<0.1
% for KK=1:1:2928
KK=KK+1;
if RT4_x0>=0 && RT4_x0<=(Q4-R4)
if (RT4_x0+(Q4-R4))<=mar
RT4_xn=(Q4-R4);
RT4_yn=-R4;
else
RT4_xn=RT4_x0+RT4_D;
RT4_yn=-R4;
end
else
if RT4_x0<0 && RT4_x0>=(Q4-R4)*(-1)
RT4_xn=RT4_x0+RT4_D;
RT4_yn=-R4;
else
if RT4_x0>=(Q4-R4) && RT4_x0<Q4
RT4_xn= R4*cos((-RT4_D/R4)+acos(((RT4_x0)-(Q4-R4))/R4))+(Q4-R4);
RT4_yn=-((R4)^2-(RT4_xn-(Q4-R4))^2)^0.5;

32. else
if RT4_x0<=(-1)*(Q4-R4) && RT4_x0>-Q4
if (RT4_x0+(Q4-R4))>=-mar1
RT4_xn=-(Q4-R4);
RT4_yn=-R4;
else
RT4_xn= -R4*cos((RT4_D/R4)+acos((((-1)*RT4_x0)-(Q4-R4))/R4))-(Q4-
R4);
RT4_yn=-((R4)^2-((-RT4_xn)-(Q4-R4))^2)^0.5;
end
else
end
end
end
end
RT4_x0=RT4_xn;
RT9(KK)=RT4_xn;
RTY9(KK)=RT4_yn;
RTG4(T4+KK-1)=RT9(KK);
RTYG4(T4+KK-1)=RTY9(KK);
RTG4(T4+KK-1)=(RTG4(T4+KK-1)*cos(th4)-RTYG4(T4+KK-
1)*tan(th4)*cos(th4))+long4;
RTYG4(T4+KK-1)=(RTG4(T4+KK-1)*cos(th4)-RTYG4(T4+KK-
1)*tan(th4)*cos(th4))*tan(th4)+RTYG4(T4+KK-1)/cos(th4)+lat4;
if RT4_yn>-mar2
RT4_y0=1;
else

33. end
end
end
end
%plot(RT,RTY,RT1,RTY1,RT2,RTY2,RT3,RTY3,RT4,RTY4,RT5,RTY5,RT6,RTY6,RT7,
RTY7,RT8,RTY8,RT9,RTY9)
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%Detection check according to intruder
trajectory
%%%%%%%%%%%%%%%%%%%%Detection domain radius (r)=2500 m
r=5000/2;
L_RTG=length(RTG);
L_RTG1=length(RTG1);
L_RTG2=length(RTG2);
L_RTG3=length(RTG3);
L_RTG4=length(RTG4);
L_x=length(x);
L_x1=length(x1);
L_x2=length(x2);
L_x3=length(x3);
L_x4=length(x4);
v=0;
z=0;
clear Dx_Time Dx10_Time Dx20_Time Dx30_Time Dx4_Time Dx0_Time Dx11_Time
Dx21_Time Dx31_Time Dx41_Time Dx1_Time Dx12_Time Dx22_Time Dx32_Time
Dx42_Time Dx2_Time Dx13_Time Dx23_Time Dx33_Time Dx43_Time Dx3_Time
Dx14_Time Dx24_Time Dx34_Time Dx44_Time;
clear Dy_Time Dy10_Time Dy20_Time Dy30_Time Dy4_Time Dy0_Time Dy11_Time
Dy21_Time Dy31_Time Dy41_Time Dy1_Time Dy12_Time Dy22_Time Dy32_Time

34. Dy42_Time Dy2_Time Dy13_Time Dy23_Time Dy33_Time Dy43_Time Dy3_Time
Dy14_Time Dy24_Time Dy34_Time Dy44_Time;
%clear Dx_Time Dy_Time Dx10_Time Dy10_Time Dx20_Time Dy20_Time
Dx30_Time Dy30_Time Dx4_Time Dy4_Time
Dx_Time=0;
Dx10_Time=0;
Dx20_Time=0;
Dx30_Time=0;
Dx4_Time=0;
Dx0_Time=0;
Dx11_Time=0;
Dx21_Time=0;
Dx31_Time=0;
Dx41_Time=0;
Dx1_Time=0;
Dx12_Time=0;
Dx22_Time=0;
Dx32_Time=0;
Dx42_Time=0;
Dx2_Time=0;
Dx13_Time=0;
Dx23_Time=0;
Dx33_Time=0;
Dx43_Time=0;
Dx3_Time=0;
Dx14_Time=0;
Dx24_Time=0;
Dx34_Time=0;
Dx44_Time=0;
while v<=(L_x-1)
v=v+1;
U=0;
while U<=(L_RTG-1)
U=U+1;
if (r^2)>=((RTG(U)-x(v))^2+(RTYG(U)-f1(v))^2)&& U==v
z=z+1;
Dx_Time(z)=RTG(U);
Dy_Time(z)=RTYG(U);
else
end
end

35. U=0;
while U<=(L_RTG1-1)
U=U+1;
if (r^2)>=((RTG1(U)-x(v))^2+(RTYG1(U)-f1(v))^2)&& U==v
z=z+1;
Dx10_Time(z)=RTG1(U);
Dy10_Time(z)=RTYG1(U);
else
end
end
U=0;
while U<=(L_RTG2-1)
U=U+1;
if (r^2)>=((RTG2(U)-x(v))^2+(RTYG2(U)-f1(v))^2)&& U==v
z=z+1;
Dx20_Time(z)=RTG2(U);
Dy20_Time(z)=RTYG2(U);
else
end
end
U=0;
while U<=(L_RTG3-1)
U=U+1;
if (r^2)>=((RTG3(U)-x(v))^2+(RTYG3(U)-f1(v))^2)&& U==v
z=z+1;
Dx30_Time(z)=RTG3(U);
Dy30_Time(z)=RTYG3(U);
else
end

36. end
U=0;
while U<=(L_RTG4-1)
U=U+1;
if (r^2)>=((RTG4(U)-x(v))^2+(RTYG4(U)-f1(v))^2)&& U==v
z=z+1;
Dx4_Time(z)=RTG4(U);
Dy4_Time(z)=RTYG4(U);
else
end
end
end
v=0;
z=0;
while v<=(L_x1-1)
v=v+1;
U=0;
while U<=(L_RTG-1)
U=U+1;
if (r^2)>=((RTG(U)-x1(v))^2+(RTYG(U)-f11(v))^2)&& U==v
z=z+1;
Dx0_Time(z)=RTG(U);
Dy0_Time(z)=RTYG(U);
else
end
end
U=0;
while U<=(L_RTG1-1)

37. U=U+1;
if (r^2)>=((RTG1(U)-x1(v))^2+(RTYG1(U)-f11(v))^2)&& U==v
z=z+1;
Dx11_Time(z)=RTG1(U);
Dy11_Time(z)=RTYG1(U);
else
end
end
U=0;
while U<=(L_RTG2-1)
U=U+1;
if (r^2)>=((RTG2(U)-x1(v))^2+(RTYG2(U)-f11(v))^2)&& U==v
z=z+1;
Dx21_Time(z)=RTG2(U);
Dy21_Time(z)=RTYG2(U);
else
end
end
U=0;
while U<=(L_RTG3-1)
U=U+1;
if (r^2)>=((RTG3(U)-x1(v))^2+(RTYG3(U)-f11(v))^2)&& U==v
z=z+1;
Dx31_Time(z)=RTG3(U);
Dy31_Time(z)=RTYG3(U);
else
end
end
U=0;

38. while U<=(L_RTG4-1)
U=U+1;
if (r^2)>=((RTG4(U)-x1(v))^2+(RTYG4(U)-f11(v))^2)&& U==v
z=z+1;
Dx41_Time(z)=RTG4(U);
Dy41_Time(z)=RTYG4(U);
else
end
end
end
v=0;
z=0;
while v<=(L_x2-1)
v=v+1;
U=0;
while U<=(L_RTG-1)
U=U+1;
if (r^2)>=((RTG(U)-x2(v))^2+(RTYG(U)-f12(v))^2)&& U==v
z=z+1;
Dx1_Time(z)=RTG(U);
Dy1_Time(z)=RTYG(U);
else
end
end
U=0;
while U<=(L_RTG1-1)
U=U+1;
if (r^2)>=((RTG1(U)-x2(v))^2+(RTYG1(U)-f12(v))^2)&& U==v

39. z=z+1;
Dx12_Time(z)=RTG1(U);
Dy12_Time(z)=RTYG1(U);
else
end
end
U=0;
while U<=(L_RTG2-1)
U=U+1;
if (r^2)>=((RTG2(U)-x2(v))^2+(RTYG2(U)-f12(v))^2)&& U==v
z=z+1;
Dx22_Time(z)=RTG2(U);
Dy22_Time(z)=RTYG2(U);
else
end
end
U=0;
while U<=(L_RTG3-1)
U=U+1;
if (r^2)>=((RTG3(U)-x2(v))^2+(RTYG3(U)-f12(v))^2)&& U==v
z=z+1;
Dx32_Time(z)=RTG3(U);
Dy32_Time(z)=RTYG3(U);
else
end
end
U=0;
while U<=(L_RTG4-1)
U=U+1;

40. if (r^2)>=((RTG4(U)-x2(v))^2+(RTYG4(U)-f12(v))^2)&& U==v
z=z+1;
Dx42_Time(z)=RTG4(U);
Dy42_Time(z)=RTYG4(U);
else
end
end
end
v=0;
z=0;
while v<=(L_x3-1)
v=v+1;
U=0;
while U<=(L_RTG-1)
U=U+1;
if (r^2)>=((RTG(U)-x3(v))^2+(RTYG(U)-f13(v))^2)&& U==v
z=z+1;
Dx2_Time(z)=RTG(U);
Dy2_Time(z)=RTYG(U);
else
end
end
U=0;
while U<=(L_RTG1-1)
U=U+1;
if (r^2)>=((RTG1(U)-x3(v))^2+(RTYG1(U)-f13(v))^2)&& U==v
z=z+1;
Dx13_Time(z)=RTG1(U);
Dy13_Time(z)=RTYG1(U);

41. else
end
end
U=0;
while U<=(L_RTG2-1)
U=U+1;
if (r^2)>=((RTG2(U)-x3(v))^2+(RTYG2(U)-f13(v))^2)&& U==v
z=z+1;
Dx23_Time(z)=RTG2(U);
Dy23_Time(z)=RTYG2(U);
else
end
end
U=0;
while U<=(L_RTG3-1)
U=U+1;
if (r^2)>=((RTG3(U)-x3(v))^2+(RTYG3(U)-f13(v))^2)&& U==v
z=z+1;
Dx33_Time(z)=RTG3(U);
Dy33_Time(z)=RTYG3(U);
else
end
end
U=0;
while U<=(L_RTG4-1)
U=U+1;
if (r^2)>=((RTG4(U)-x3(v))^2+(RTYG4(U)-f13(v))^2)&& U==v
z=z+1;

42. Dx43_Time(z)=RTG4(U);
Dy43_Time(z)=RTYG4(U);
else
end
end
end
v=0;
z=0;
while v<=(L_x4-1)
v=v+1;
U=0;
while U<=(L_RTG-1)
U=U+1;
if (r^2)>=((RTG(U)-x4(v))^2+(RTYG(U)-f14(v))^2)&& U==v
z=z+1;
Dx3_Time(z)=RTG(U);
Dy3_Time(z)=RTYG(U);
else
end
end
U=0;
while U<=(L_RTG1-1)
U=U+1;
if (r^2)>=((RTG1(U)-x4(v))^2+(RTYG1(U)-f14(v))^2)&& U==v
z=z+1;
Dx14_Time(z)=RTG1(U);
Dy14_Time(z)=RTYG1(U);
else
end

43. end
U=0;
while U<=(L_RTG2-1)
U=U+1;
if (r^2)>=((RTG2(U)-x4(v))^2+(RTYG2(U)-f14(v))^2)&& U==v
z=z+1;
Dx24_Time(z)=RTG2(U);
Dy24_Time(z)=RTYG2(U);
else
end
end
U=0;
while U<=(L_RTG3-1)
U=U+1;
if (r^2)>=((RTG3(U)-x4(v))^2+(RTYG3(U)-f14(v))^2)&& U==v
z=z+1;
Dx34_Time(z)=RTG3(U);
Dy34_Time(z)=RTYG3(U);
else
end
end
U=0;
while U<=(L_RTG4-1)
U=U+1;
if (r^2)>=((RTG4(U)-x4(v))^2+(RTYG4(U)-f14(v))^2)&& U==v
z=z+1;
Dx44_Time(z)=RTG4(U);
Dy44_Time(z)=RTYG4(U);
else

44. end
end
end
F_P=F_P+((length(Dx_Time)+length(Dx10_Time)+length(Dx20_Time)+length(Dx
30_Time)+length(Dx4_Time)))*((length(Dx0_Time)+length(Dx11_Time)+length
(Dx21_Time)+length(Dx31_Time)+length(Dx41_Time)))*((length(Dx1_Time)+le
ngth(Dx12_Time)+length(Dx22_Time)+length(Dx32_Time)+length(Dx42_Time)))
*((length(Dx2_Time)+length(Dx13_Time)+length(Dx23_Time)+length(Dx33_Tim
e)+length(Dx43_Time)))*((length(Dx3_Time)+length(Dx14_Time)+length(Dx24
_Time)+length(Dx34_Time)+length(Dx44_Time)))/(1000000000);
%clear Dx_Time Dy_Time Dx10_Time Dy10_Time Dx20_Time Dy20_Time
Dx30_Time Dy30_Time Dx4_Time Dy4_Time
end
F(s)=F_P;
h(s)=1/F(s);
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
end

45. Ji=1./(F+1e-10);
%****** Step 1 : Evaluate BestJ ******
BestJ(k)=min(Ji);
fi=F; %Fitness Function
[Oderfi,Indexfi]=sort(fi); %Arranging fi small to bigger
Bestfi=Oderfi(Size); %Let Bestfi=max(fi)
BestS=E(Indexfi(Size),:); %Let BestS=E(m), m is the Indexfi belong
to max(fi)
bfi(k)=Bestfi;
%****** Step 2 : Select and Reproduct Operation******
fi_sum=sum(fi);
fi_Size=(Oderfi/fi_sum)*Size;
fi_S=floor(fi_Size); %Selecting Bigger fi value
kk=1;
for i=1:1:Size
for j=1:1:fi_S(i) %Select and Reproduce
TempE(kk,:)=E(Indexfi(i),:);
kk=kk+1; %kk is used to reproduce
end
end
%************ Step 3 : Crossover Operation ************
pc=0.60;
n=ceil(250*rand);
for i=1:2:(Size-1)
temp=rand;
if pc>temp %Crossover Condition
for j=n:1:250
TempE(i,j)=E(i+1,j);
TempE(i+1,j)=E(i,j);
end
end
end
TempE(Size,:)=BestS;
E=TempE;
%************ Step 4: Mutation Operation **************
%pm=0.001;
%pm=0.001-[1:1:Size]*(0.001)/Size; %Bigger fi, smaller Pm
%pm=0.0; %No mutation
pm=0.1; %Big mutation
for i=1:1:Size
for j=1:1:25*CodeL
temp=rand;
if pm>temp %Mutation Condition
if TempE(i,j)==0
TempE(i,j)=1;
else
TempE(i,j)=0;

46. end
end
end
end
%Guarantee TempPop(30,:) is the code belong to the best
individual(max(fi))
TempE(Size,:)=BestS;
E=TempE;
W0(k)=W0;
W1(k)=W1;
W2(k)=W2;
W3(k)=W3;
W4(k)=W4;
L0(k)=L0;
L1(k)=L1;
L2(k)=L2;
L3(k)=L3;
L4(k)=L4;
th0(k)=th0;
th1(k)=th1;
th2(k)=th2;
th3(k)=th3;
th4(k)=th4;
lat0(k)=lat0;
lat1(k)=lat1;
lat2(k)=lat2;
lat3(k)=lat3;
lat4(k)=lat4;
long0(k)=long0;
long1(k)=long1;
long2(k)=long2;
long3(k)=long3;
long4(k)=long4;
end
Max_Value=Bestfi
BestS

47. figure(1);
plot(time,BestJ);
xlabel('Times');ylabel('Best J');
figure(3);
plot(time,bfi);
xlabel('times');ylabel('Best F');