Modeling and Analysis of a Reconfigurable Rover for Improved Traversing over Soft Sloped Terrains

. 2023 Mar 22;8(1):131. doi: 10.3390/biomimetics8010131

Algorithm 2

φ_{S_{i j}}

calculated by particle swarm optimization algorithm.

1:
Important Condition:
2:
Particle position: $X = \{x_{i} | x_{i} = φ_{S_{i j}}\}$
3:
End condition: $β \leq 3^{\circ}$ & $s \leq 0.2$
4:
Fitness: $f = \frac{π}{2 (φ_{S_{i j_{n o w}}} - φ_{S_{i j_{l a s t}}})} + \frac{π}{2 β} + \frac{1}{s}$
5:
Beginning:
6:
initial starting parameters
7:
calculate the fitness
8:
find out the optimization
9:
update position and velocity of particle
10:
if not meet the end condition then
11:
go to step 7
12:
else
13:
save $φ_{S_{i j}}$
14:
end if
14:
return $φ_{S_{i j}}$