Flocking Control of Mobile Robots with Obstacle Avoidance Based on Simulated Annealing Algorithm

Algorithm 1

Flocking behaviour search.

	Input: and
	Output:
(1)	for do
(2)	Initialize (T, , and )
(3)
(4)
(5)	Whiledo
(6)	fordo
(7)
(8)	ifthen
(9)
(10)
	else
(11)	ifthen
(12)
(13)
(14)
(15)	return