A Physarum-Inspired Decision-Making Strategy for Multisource Task Searching of Mobile Robots

Figure 4

Process of generating the trajectory for PDS under sources with Gaussian-like shape field intensity distribution. (a–g) Access sequence and how a trajectory is built. (a) t = 0, (b) t = 43, (c) t = 52 (d) t = 72, (e) t = 156, (f) t = 249, (g) t = 333, (h) Trajectory comparison between PS and PDS.

(a)

(b)

(c)

(d)

(e)

(f)

(g)

(h)