The Research of Maneuverability Modeling and Environmental Monitoring Based on a Robotic Dolphin

Procedure 1

APSO.

Procedure APSO

for each particle

%Initialize particle

(Initialize and position for each particle )

end

For each particle

%Calculate fitness value

the best fitness value (pBest for ) in history

set current value as the new pBest for —()

end

%Choose the particle with the best fitness value of all the particles

gBest—max(pBest for )

While not stop

for to

Calculate particle velocity

Update particle position

if fit

pBest —

if

gBest —pBest

end

end

end

end

For each particle

Pint gBest

end