任务分配基于matlab拍卖算法多无人机多任务分配【含Matlab源码 3086期】.zip

clear all; % 小车们的起始坐标矩阵 tracks = [1,1 ; 1,9;7,9;9,1]; % 四辆小车 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% old_tracks = tracks; %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % tracks = [1,1 ; 1,9; 9,1]; % 三辆小车 % tracks = [1,1 ; 9,1]; % 两辆小车 % tracks = [1,1 ;]; % 一辆小车 % 所有任务矩阵 dets = [2,1; 3,2; 6,2; 8,5; 9,5; 2,3; 5,3; 6,3; 7,3; 9,7; 3,4; 5,6; 6,5; 8,9; 5,8; 3,8; 2,6; 2,9; 4,9; 4,10]; % dets = ceil(rand(20,2)*10) plot(tracks(:, 1), tracks(:, 2), '*', dets(:, 1), dets(:, 2), 'o') % plot(tracks(:, 1), tracks(:, 2), dets(:, 1), dets(:, 2)) hold on costofnonassignment = 3; a = 0; % disp(tracks) xlabel('X'); ylabel('Y'); title("任务分配") %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% total_costMatrix = zeros(size(tracks,1),1) % 总的任务代价值 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% while true if size(dets,1)>0 a = a + 1; T = sprintf("第%d轮拍卖:",a); % disp(T) costMatrix = []; % 计算价值矩阵 ，起始是一个距离矩阵 for i = size(tracks, 1):-1:1 delta = dets - tracks(i, :); costMatrix(i, :) = sqrt(sum(delta .^ 2, 2)); % 距离矩阵 end % total_costMatrix = costMatrix + total_costMatrix; % disp(costMatrix)% 距离矩阵 % 开始进行任务拍卖，返回得到 i 号车得到 j 号任务的矩阵 [assignments, unassignedTracks, unassignedDetections] = assignauction(costMatrix,costofnonassignment); % disp(assignments) old_tracks = tracks; % 用来保存原来的小车的坐标位姿 for i = 1:size(assignments, 1) ass = assignments(i, :); %逐行检索买卖双方 tar_idex = ass(1,2); % 检索拍卖的任务索引 tar = dets(tar_idex,:); % 通过索引找到对应的任务 这是这轮拍卖被拍到的任务的坐标点 trac_idex = ass(1,1); % 找到买家的索引 trac = tracks(trac_idex,:); % 找到任务小车 拍下这个任务的小车的坐标点 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% deta = trac - tar; total_costMatrix(trac_idex,1) = total_costMatrix(trac_idex,1)+sqrt(deta(1,1)^2 + deta(1,2)^2); %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% tracks(trac_idex,:) = tar; % 将买家坐标更新至当前拍卖到的任务点 dets(tar_idex,:) = [-999,-999]; % 将已经拍卖掉的标记 end dets(dets(:,2)<0,:)=[]; %将已经拍卖掉的在任务列表中删除 for i= 1:size(tracks, 1) if (tracks(i, 1) ~= old_tracks(i,1)) || (tracks(i, 2) ~= old_tracks(i,2)) t = tracks(i, :); t_x = t(1); t_y = t(2); old_t = old_tracks(i, :); ot_x = old_t(1);ot_y = old_t(2); if ot_x ~= t_x if ot_x < t_x X = ot_x:0.3: t_x; else ot_x > t_x X = t_x:0.3:ot_x ; end Y = ((t_y-ot_y)/(t_x-ot_x))*(X -ot_x) + ot_y; end if ot_x == t_x if(ot_y < t_y) Y = ot_y :0.3:t_y; else Y = t_y :0.3:ot_y; end X = ot_x + 0*Y; end if i==1 plot(X,Y,'--r'); elseif i==2 plot(X,Y,'-g'); elseif i==3 plot(X,Y,'-.b'); elseif 4==i plot(X,Y,'-m'); end legend('小车', '任务') % hold on; % T = sprintf(" %d号小车，接收到目标点(%d,%d)",i,t_x,t_y); disp(T); end end else %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %返回原点代价加进去 dist = tracks - old_tracks ; for i = size(tracks, 1):-1:1 total_costMatrix(i,1) = total_costMatrix(i,1)+sqrt(dist(1,1)^2 + dist(1,2)^2); end %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% break; end % 将 tracks 移动到任务点 end