Chaotic Path Planner of Autonomous Mobile Robots Based on the Standard Map for Surveillance Missions

Pseudocode 1

Pseudocodes of the iterations fusion strategy.

// initialization of the parameters

 suppose a whole workspace ;

 size of the divided small grids ← ;

 each small grid region of ;

 the total small iterative steps ← ;

 each small iterative steps in one cycle ← ;

 the total large iterative steps ← ;

 each large iterative steps in one cycle ← ;

// the whole iteration procedure

 while ();

  ((0), (0)) ← rand(); // randomly select an initial point in

  large_iteration_cycle;

  ;

  ((0), (0)) ← ((), ());

  ; // compute small grid number

  if ; // is the small grid iteration times in the current ;

   large_iteration_cycle;

   elseif ;

    small_iteration_cycle;

    ;

    ((0), (0)) ← ((), ());

    if ;

     breaks;

    end

   else small_iteration_cycle;

  end

 end

 function small_iteration_cycle

  ;

  while ();

   Equation (3);

   ;

  end

 end

 function large_iteration_cycle

  ;

  while ();

   Equation (3);

   ;

  end

 end

  function Equation (3)

 ;

 ;

 ;

 ;

 ;

  end