Team Robot Motion Planning in Dynamics Environments Using a New Hybrid Algorithm (Honey Bee Mating Optimization-Tabu List)

Pseudocode 1

Pseudocode of Algorithm.

Initial position (𝑥_robot-𝑖(𝑡)), 𝑦_robot-𝑖(𝑡));

Initial position (𝑥_{obstacle-𝑖}(𝑡)), 𝑦_{obstacle-𝑖}(𝑡));

Initial position (𝑥_goal-𝑖(𝑡)), 𝑦_goal-𝑖(𝑡));

Real List_1[𝑖], List_2[𝑗];

𝐽∶=1;

Repeat

Search with Camera

     If Camera see No things

        begin

    𝑋_{obstacle-𝑖} (𝑡+1)∶=𝑋_{obstacle-𝑖}(𝑡); 𝑌_{obstacle-𝑖}(𝑡+1)∶=𝑌_{obstacle-𝑖}(𝑡);

    𝑋_goal-𝑖(𝑡+1)∶=𝑋_goal-𝑖(𝑡); 𝑌_goal-𝑖(𝑡+1)∶=𝑌_goal-𝑖(𝑡);

        End

     Else if see an obstacle

         begin

          Calculate 𝑋_{obstacle-𝑖}(𝑡+1) according to equation

          Calculate 𝑌_{obstacle-𝑖}(𝑡+1) according to equation

          List_1[𝑗]∶=𝑋_{obstacle-𝑖}(𝑡+1); List_2[𝑗]∶=𝑋_{obstacle-𝑖}(𝑡+1);

         𝐽∶=𝐽+1;

         End

     Else if see an goal

         Begin

           Calculate 𝑋_goal-𝑖(𝑡+1) according to equation

           Calculate 𝑌_goal-𝑖(𝑡+1) according to equation

         end