Research Article
A Physarum-Inspired Decision-Making Strategy for Multisource Task Searching of Mobile Robots
Algorithm 1
The PS-based source search.
| (1) | Initialize input a Four-tuple , rini (xini, yini), Imax and t = 0 | | (2) | For t = 1: Imax | | (3) | Calculate fs(n) based on equation (3) | | (4) | Calculate Gs(n) based on equation (4) | | (5) | Normalized calculation Ns(n) based on equation (5) | | (6) | Choose the new position of the mobile robot r(t + 1) based on equation (6) | | (7) | And t = t + 1 | | (8) | Ifthen | | (9) | S eliminate the si | | (10) | End if | | (11) | If | | (12) | Break | | (13) | End if | | (14) | End for |
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