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 |