Swarm Robot Exploration Strategy for Path Formation Tasks Inspired by Physarum polycephalum

Algorithm 3

Vector to wheel velocity.

	Input::the next direction of motion;
	//calculate the angle between the direction of the current direction and the direction
	angle ← atan2
	Left_Velocity ← 0
	Right_Velocity ← 0
	if angle >0 then
	Left_Velocity = m_fWheelVelocity (1 − 2angle/π);
	Right_Velocity = m_fWheelVelocity
	else
	Left_Velocity = m_fWheelVelocity
	Right_Velocity = m_fWheelVelocity (1 − 2angle/π);
	Set wheel speed (Left_Velocity, Right_Velocity)