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Table 3 General emergency task planning & insertion algorithm

From: An emergency task autonomous planning method of agile imaging satellite

Algorithm III

General emergency task planning & insertion algorithm

1

Start Procedure

2

Initialize the sets EM←Emergency Tasks

 

the earliest start time ES, the latest end time LE,

 

loss[i][j]←loss of task i to task j, losspath[]={},

 

mintime=0,

3

Generate a loss matrix D[]

4

if loss[i][l] or loss[l][k] > loss[i][j]

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 Put the path number in tabu list

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end if

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if Dn< >Dn-1 then

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 for i in D and not in tabu list do

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  for j in D and not in tabu list do

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   if loss[i][l]+loss[l][j]<loss[i][j] then

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    D[i][j]=loss[i][l]+loss[l][j]

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   end if

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  end for

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 end for

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end if

16

Sort the loss values in ascending order→ L[i]

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Get time spent on each run→ Time[i]

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for index i in L do

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if mintime>LE-ES+σ then

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  Select loss path i

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  loop for

22

 end if

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end for

24

Insert emergency tasks in the corresponding position

25

End Procedure