Algorithm 1 Mapping $D_{AOI}$ into P

Input: The AOI: $D_{AOI}$ Output: The pheromone matrix: $P={\left(p_{i,j}\right)}_{m\times n}$ 1:${\mathrm{X}}_{\mathrm{MAX}}=max\left(x\right)$, ${\mathrm{X}}_{\mathrm{MIN}}=min\left(x\right)$, ${\mathrm{Y}}_{\mathrm{MAX}}=max\left(y\right)$, ${\mathrm{Y}}_{\mathrm{MIN}}=min\left(y\right)$, where $(x,y)\in D_{AOI}$ 2:$D_{MBR}=\left\{(x,y)\right|x\in [{\mathrm{X}}_{\mathrm{MIN}},{\mathrm{X}}_{\mathrm{MAX}}],y\in [{\mathrm{Y}}_{\mathrm{MIN}},{\mathrm{Y}}_{\mathrm{MAX}}]\}$ 3:${\mathrm{X}}_{\mathrm{MAX}}^{\prime }={\mathrm{X}}_{\mathrm{MAX}}+\Delta x$, ${\mathrm{X}}_{\mathrm{MIN}}^{\prime }={\mathrm{X}}_{\mathrm{MIN}}-\Delta x$, ${\mathrm{Y}}_{\mathrm{MAX}}^{\prime }={\mathrm{Y}}_{\mathrm{MAX}}+\Delta y$, ${\mathrm{Y}}_{\mathrm{MIN}}^{\prime }={\mathrm{Y}}_{\mathrm{MIN}}-\Delta y$, where $\Delta x>({\mathrm{X}}_{\mathrm{MAX}}-{\mathrm{X}}_{\mathrm{MIN}})/(2m-2)$, $\Delta y>({\mathrm{Y}}_{\mathrm{MAX}}-{\mathrm{Y}}_{\mathrm{MIN}})/(2n-2)$ 4:$D=\left\{(x,y)\right|x\in [{\mathrm{X}}_{\mathrm{MIN}}^{\prime },{\mathrm{X}}_{\mathrm{MAX}}^{\prime }],y\in [{\mathrm{Y}}_{\mathrm{MIN}}^{\prime },{\mathrm{Y}}_{\mathrm{MAX}}^{\prime }]\}$ 5: Scatter D into $m\times n$ rectangles. Label them with $D_{i,j}$ where $i=1,2,\dots ,m$, and $j=1,2,\dots ,n$. Calculate the center of each rectangle, with the center of $D_{i,j}$ being $(x_c\left(i\right),y_c\left(j\right))$: $$x_c\left(i\right)={\mathrm{X}}_{\mathrm{MIN}}^{\prime }+\frac{2i-1}{2m}\times ({\mathrm{X}}_{\mathrm{MAX}}^{\prime }-{\mathrm{X}}_{\mathrm{MIN}}^{\prime })$$ , $$y_c\left(j\right)={\mathrm{Y}}_{\mathrm{MIN}}^{\prime }+\frac{2j-1}{2n}\times ({\mathrm{Y}}_{\mathrm{MAX}}^{\prime }-{\mathrm{Y}}_{\mathrm{MIN}}^{\prime })$$ . 6: Create matrix $P={\left(p_{i,j}\right)}_{m\times n}$ $$p_{i,j}=\left\{\begin{array}{cc}\infty ,& (x_c\left(i\right),y_c\left(j\right))\in D_{AOI},\\ 0,& (x_c\left(i\right),y_c\left(j\right))\notin D_{AOI}.\end{array}\right.$$