Autonomic Obstacle Detection and Avoidance in MANETs Driven by Cartography Enhanced OLSR

Algorithm 5

Selection procedure.

Require: : a list containing pairs of non communicating positions.

Ensure: List of obstacle detection parameters values leading to the best performance.

 ()   CN ← 0                     ▹  CN: CombinationNumber

 ()    ← 800                    ▹  : Time (seconds)

 ()   for each PercentageOfFilteredInformation (POI) from 2 to 6 step 2 do

 ()     for each MaxAngleAperture (Ang) from 5 to 20 step 5 do

 ()       for each LocalDensityRadius () from 3 to 9 step 3 do

 ()         for each MaxToleratedFarness () from 5 to 45 step 5 do

 ()           for each    from 4 to 10 step 2 do

 ()              CN ← CN + 1

 ()              for each run from 1 to 35 step 1 do

 ()               detectedObstcle ← detectObstcle(POI, Ang, , , ,  )

 ()               Precision[run] ←  calculatePrecision(detectedObstcle, realObstcle)

 ()               Coverage[run] ←  calculateCoverage(detectedObstcle, realObstcle)

 ()           end for

 ()           AveragePrecision ← average(Precision)

 ()           AverageCoverage ← average(Coverage)

 ()           optimizationCriteria[CN] ← (AveragePrecision + AverageCoverage)/2

 ()        end for

 ()      end for

 ()    end for

 ()  end for

 () end for

       bestPerformanceCombination ← indexOf(maximum (optimizationCriteria))

 () return  Parameters corresponding to bestPerformanceCombination