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. 2017 Feb 8;17(2):316. doi: 10.3390/s17020316
Algorithm 2 Planning the AUV trajectory in PNCS-GHA
Input: The constructed probabilistic neighborhood covering set S; the locations of nodes in S;
Output: The traveling path of the AUV, P;
  • 1:

    m = |S|;

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    for i = 1 to m do

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        visit(i) = false;

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        d0(i) = distance from S(i) to the surface control center;

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    end for

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    curr = {arg min {d0(i)|i=1,2,…,m}};

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    visit(curr) = true;

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    visitNum = 1;

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    P = {S(curr)};

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    while visitNum<m do

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        for i = 1 to m do

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            if visit(i) = false then

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               dcurr(i) = distance from S(i) to S(curr);

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            else

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               dcurr(i) = ∞;

  • 16:

            end if

  • 17:

        end for

  • 18:

        curr = {arg min {dcurr(i)|i=1,2,…,m}};

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        visit(curr) = true;

  • 20:

        visitNum = visitNum +1;

  • 21:

        P = {P; S(curr)};

  • 22:

    end while