A Cloud-Assisted Region Monitoring Strategy of Mobile Robot in Smart Greenhouse

Algorithm 1

Selecting candidate monitoring points based on improved virtual force.

	Input: , R, , max_iteration, dmoving
	Output: ,
	Initialize  = 1,  = R
	repeat
	while (h < max_interaction)
	if
	for
	Calculate virtual force
	if
	update location according to (18)
	if
	else
	calculate the total force
	until
	Return