From: Hybrid spiral-dynamic bacteria-chemotaxis algorithm with application to control two-wheeled machines
θ tumble | Bacteria angular displacement on x i  − x j plane around the origin for tumbling |
θ swim | Bacteria angular displacement on x i  − x j plane around the origin for swimming |
r tumble | Spiral radius from bacteria tumble |
r swim | Spiral radius for bacteria swim |
m | Number of search points |
k max | Maximum iteration number |
N sw | Maximum number of swim |
x i (k) | Bacteria position |
R n | n × n matrix |