Table 1: Parameters.
| Parameter | Value |
| Number of iterations | 1000 |
| RD (radius of the semicircle where the pheromone is deposited and provided by laser range finder) | 8.00 meters |
| RCk (communication radius of robot Rk, k = {1,...,N}) | 8.00 meters |
| robot speed | 0.5 meter per second |
| σ (pheromone releasing rate) | 0.4RD |
| ρ (evaporation rate) | 10-4 |
| τX(0) (amount of pheromone at iteration t = 0) | 0.5 |
| γ (coefficient for smoothing of steering direction adjusting) | 0.5 |
| S (number of angle intervals) | 360 |
| U (number of angle intervals) | 30% of size of S set |
| V (number of angle intervals) | 10% of size of S set |
| Itbegin_threshold | 100 |
| It interval | 50 |