Research on Global Path Planning of Robot Based on Ant Colony Algorithm and Gaussian Sampling

Table 1

Pseudocode.

Step	Information
1	Begin
2	Initialization parameters
3	Gaussian sampling and initialization pheromone
4	Repeat
5	for N = 1 to Nmaxdo
6	Select next node and update heuristic function
7	If across regions then
8	Calculating the loss function
9	else update heuristic function
10	end if
11	If satisfy the iteration break
12	else continue
13	end if
14	end for
15	If arriving the ending point then
16	Print: Succeed
17	Else
18	Print: Fail
19	end if
20	End