//initialization |

; |

Set relevant parameters and coefficients; |

Set the max cycle-index ; |

While () do |

{ |

Renew the neighbor nodes set of node ; |

Read the current coordinate position of node ; |

Read all neighbor nodes of node ; |

Calculate resultant force to node according to formulas |

(8)(13); |

Calculate the target position of node at time |

according to formulas (14) and (15); |

Calculate the coverage rate of this movement and rotation |

according to formula (2); |

* *Determine the mode of movement according to the |

coverage rate. Calculate influence factors *.* And determine |

the final moving direction of the node. |

* *If , move node according to the mode and direction |

in step , or keep the current position of node unchanged. |

* *; |

} |

* *End. |