Algorithm 1: Speed and position updating algorithm

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for $\exists i\in n$ do

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$a_1=\left(1-\frac{1}{r}\left|x_i^t-{\overline{x}}_i^t\right|\right)\left(x_i^t-{\overline{x}}_i^t\right)$

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$a_2=\left(1-\frac{1}{r}\left|x_i^t-{\overline{x}}_i^t\right|\right)\left(v_i^t-{\overline{v}}_i^t\right)$

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$a_3={\displaystyle \sum _{j=1}^m\frac{1}{r_c}}\left(x_i^t-x_j^t\right)$

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$a_4=c\frac{v_i^t}{\left|v_i^t\right|}$

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$a_5=Random,s.t.\left|a_5\right|\le \left|v_{\max }\right|$

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$v_i^{t+1}=v_i^t+c_1{a}_1+c_2{a}_2+c_3{a}_3+c_4{a}_4+c_5{a}_5$

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if $\left|v_i^{t+1}\right|>\left|v_{\max }\right|$ then

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$v_i^{t+1}=\frac{v_i^{t+1}}{\left|v_i^{t+1}\right|}\cdot \left|v_{\max }\right|$

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end

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if $x_i^t\notin S_{l\times l}\wedge v_i^t\cdot \left(\overline{s}-x_i^t\right)<0$ then

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$v_i^{t+1}=-v_i^{t+1}$

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end

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$x_i^{t+1}=x_i^t+v_i^{t+1}$

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end