Bioinspired Intelligent Algorithm and Its Applications for Mobile Robot Control: A Survey

Algorithm 1

(1) Set ;

   % where means the best genome; and are two temporary genomes.

(2) Initialize ;

   % where means the frequency of the allele .

(3) Set = select_best();

   % Select the best genome from the gene pool.

(4) Do

     = select_rand() and = select_rand();

      % Select two genomes randomly from the gene pool.

    If fitness() fitness()

    reward() and penalize();

    If fitness() fitness()

      = ;

    % where fitness() is a function to calculate the fitness of the genomes;

reward() and penalize() are two functions used to realize the tournament mechanism.

    Else

    reward() and penalize();

    If fitness() fitness()

      = ;

while the stopping condition is reached;

(5) Return ;