I have coded up to this point, please guide me to continue:
%% Adaptive Clustering-Based Algorithm for Automatic Path Planning of Heterogeneous UAVs
clear all;
close all;
clc;
%% Initialization
% Define the number of UAVs
num_UAVs = 5;
% Define the maximum flight time for each UAV
max_flight_time = 60; % minutes
% Define the maximum speed for each UAV
max_speed = 20; % m/s
% Define the initial positions of the UAVs
initial_positions = [0, 0; 1000, 1000; -1000, -1000; -500, 500; 500, -500];
% Define the target locations for each UAV
target_locations = [2000, 2000; -2000, -2000; 1500, -1500; -1500, 1500; 1000, -1000];
% Define the communication range between UAVs
communication_range = 500; % meters
% Define the clustering threshold
clustering_threshold = communication_range / sqrt(num_UAVs);
% Define the maximum number of iterations for clustering
max_iterations_clustering = num_UAVs;
% Define the maximum number of iterations for path planning
max_iterations_path_planning = num_UAVs * max_flight_time;
%% Clustering-Based Algorithm
% Initialize variables
current_positions = initial_positions;
current_time = zeros(num_UAVs,1);
current_targets_assigned = zeros(num_UAVs,num_UAVs);
current_targets_reached = zeros(num_UAVs,1);
current_clusters = cell(num_UAVs,1);
% Loop until all targets are reached or the maximum number of iterations is reached
for iteration = 1:max_iterations_path_planning
end
% Cluster the UAVs based on their current positions
for i = 1:num_UAVs
current_clusters{i} = [];
for j = 1:num_UAVs
if i ~= j && norm(current_positions(i,:) - current_positions(j,:)) <= clustering_threshold
current_clusters{i} = [current_clusters{i}, j];
end
end
end
% Assign targets to UAVs in each cluster
for i = 1:num_UAVs
if ~current_targets_reached(i)
targets_available = setdiff(1:num_UAVs,current_targets_assigned(i,:));
targets_in_cluster = [];
for j = 1:length(current_clusters{i})
targets_in_cluster = [targets_in_cluster,current_targets_assigned(current_clusters{i}(j),:)];
end
targets_in_cluster_unique = unique(targets_in_cluster);
targets_to_assign = setdiff(targets_available,targets_in_cluster_unique);
if ~isempty(targets_to_assign)
distances_to_targets_to_assign = zeros(length(targets_to_assign),1);
for k = 1:length(targets_to_assign)
distances_to_targets_to_assign(k) = norm(target_locations(targets_to_assign(k),:) - current_positions(i,:));
end
[~,min_index] = min(distances_to_targets_to_assign);
target_assigned_index = targets_to_assign(min_index);
current_targets_assigned(i,target_assigned_index) = 1;
end
end
end
% Move the UAVs towards their assigned targets and update their positions and time spent flying
for i=1:num_UAVs
end
if ~current_targets_reached(i)
end
targets_assigned = find(current_targets_assigned(i,:));
if ~isempty(targets_assigned)
end
