Research Article
A Physarum-Inspired Decision-Making Strategy for Multisource Task Searching of Mobile Robots
Algorithm 2
The PDS-based source search.
(1) | Initialize input a Four-tuple , rini (xini, yini), Imax and t = 0 | (2) | For t = 1: Imax | (3) | Calculate based on equation (3) | (4) | Calculate based on equation (7) | (5) | Calculate based on equation (9) | (6) | Calculate based on equation (11) | (7) | Calculate based on equation (8) | (8) | Calculate based on equation (10) | (9) | Calculate based on equation (12) | (10) | Choose the new position of the mobile robot for next move | (11) | And t = t + 1 | (12) | If then | (13) | S eliminate the si | (14) | End if | (15) | If | (16) | Break | (17) | End if | (18) | End for |
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