Research Article
A Physarum-Inspired Decision-Making Strategy for Multisource Task Searching of Mobile Robots
Algorithm 2
The PDS-based source search.
| (1) | Initialize input a Four-tuple , rini (xini, yini), Imax and t = 0 | | (2) | For t = 1: Imax | | (3) | Calculate based on equation (3) | | (4) | Calculate based on equation (7) | | (5) | Calculate based on equation (9) | | (6) | Calculate based on equation (11) | | (7) | Calculate based on equation (8) | | (8) | Calculate based on equation (10) | | (9) | Calculate based on equation (12) | | (10) | Choose the new position of the mobile robot for next move | | (11) | And t = t + 1 | | (12) | If then | | (13) | S eliminate the si | | (14) | End if | | (15) | If | | (16) | Break | | (17) | End if | | (18) | End for |
|
