Graph Search-Based Exploration Method Using a Frontier-Graph Structure for Mobile Robots

. 2020 Nov 3;20(21):6270. doi: 10.3390/s20216270

Algorithm 6 Next node selection in the solution to the traveling salesman problem (TSP)
Require: $N o d e_{T S P}$ , the reference node’s ID $i d_{R e f}$
Ensure: $n o d e_{n e x t}$
1: function Find-Next-Node-In-TSP-Solution( $N o d e_{T S P} \cup n o d e_{R e f}$ )
2: $N o d e_{o r d e r e d} \leftarrow sort_node_ascend (N o d e_{T S P})$
3: $p o s_{R e f} \leftarrow find_node_position_in_node_array (N o d e_{o r d e r e d}, i d_{R e f})$
4: if $p o s_{R e f} < N$ then	▹N: the number of components in $N o d e_{o r d e r e d}$
5: $n o d e_{n e x t} \leftarrow {[p o s_{R e f} + 1]}^{th}$ component of $N o d e_{o r d e r e d}$
6: else
7: $n o d e_{n e x t} \leftarrow$ the first component of $N o d e_{o r d e r e d}$
8: end if
9: return $n o d e_{n e x t}$
10: end function