clc;
clear;
close all;
warning off;
addpath(genpath(pwd));
total = 10; % no of ants
iterations = 1000; %no. of iterations
phera_up = -1;
rho = 0.8;
alpha = 1;
beta = 0;
% initialization of env
mat = ones(250,250);
path = ones(250,250);
goal = [0 0];
[env, goal] = env_dy(mat,0,goal);
goal_a = zeros(1,2);
reached = -1;
reached_count = 0;
figure(1);
% Initialization of ants
ant = zeros(total,iterations,2);
ant_sta = zeros(total,2);
ant(:,1,:) = 1;
ant_sta(:,1) = 1;
phera = zeros(250,250);
% Iterations
li =1:8;
lm = [0 -1;1 -1;1 0;1 1;0 1;-1 1;-1 0;-1 -1];
lm = lm * 5;
filter = ones(5,5) * 0.25; %gausian filter of size 3
filter(2:4,2:4) = ones(3,3) * 0.5;
filter(3,3) = 1;
for i = 1:iterations
for j = 1:total
if(ant_sta(j,2) == 1)
continue;
end
min = -500;
r_temp = ant(j,ant_sta(j,1),1);
c_temp = ant(j,ant_sta(j,1),2);
l = li(randperm(8));
for ll = 1:8
r = ant(j,ant_sta(j,1),1)+lm(l(ll),1);
c = ant(j,ant_sta(j,1),2)+lm(l(ll),2);
if(r <= 0 || c <= 0 || r >= 251 || c >= 251 )
continue;
end
if(r>=goal(1)-1 && r<=goal(1)+10 && c>=goal(2)-1 && c<=goal(2)+10) %Goal Test
ant_sta(j,2) = 1;
r_temp = goal(1);
c_temp = goal(2);
goal_a(1) = r;
goal_a(2) = c;
reached_count = reached_count + 1;
if(reached == -1)
rho = 0.8;
reached = 1;
beta = 0;
alpha = 1;
end
for b=1:ant_sta(j,1)
a = ant_sta(j,1) + 1 -b;
if(ant(j,a,1) <=10 || ant(j,a,2) <=10 ||ant(j,a,1) >= 241 || ant(j,a,2) >= 241 )
phera(ant(j,a,1),ant(j,a,2)) = max(phera(ant(j,a,1),ant(j,a,2)) , 1/b);
else
temp_mat = filter*(1/b);
for u = 1:5
for v = 1:5
phera(ant(j,a,1)-15+5*u,ant(j,a,2)-15+5*v) = max(phera(ant(j,a,1)-15+5*u,ant(j,a,2)-15+5*v) , temp_mat(u,v));
end
end
end
end
break;
end
if( env(r,c) == 1)
trans = (phera(r,c)/abs(phera(r,c)))*(abs(phera(r,c))^alpha)/(((sqrt((goal_a(1)-r)^2+(goal_a(2)-c)^2)+1))^beta);
if(trans < min)
continue;
end
min = trans;
r_temp = r;
c_temp = c;
end
end
env(ant(j,ant_sta(j,1),1),ant(j,ant_sta(j,1),2)) = 1;
env(r_temp,c_temp) = 0;
if(~(ant(j,ant_sta(j,1),1) == r_temp && ant(j,ant_sta(j,1),2) == c_temp))
ant_sta(j,1) = ant_sta(j,1) +1;
end
ant(j,ant_sta(j,1),1) = r_temp;
ant(j,ant_sta(j,1),2) = c_temp;
if(phera(r_temp,c_temp) <= 0)
if(r_temp <=10 || c_temp <=10 ||r_temp >= 241 || c_temp >= 241 )
phera(r_temp,c_temp) = phera(r_temp,c_temp) + phera_up;
else
temp_mat = filter*phera_up;
for u = 1:5
for v = 1:5
phera(r_temp-15+5*u,c_temp-15+5*v) = phera(r_temp-15+5*u,c_temp-15+5*v) + temp_mat(u,v);
end
end
end
end
path(r_temp,c_temp) = 0;
end
phera = phera * (rho);
imshow(env);
pause(0.0001);
if(reached_count == total)
break;
end
[env, goal] = env_dy(mat,i,goal);
for chiti = 1:total
if(ant_sta(chiti,2) == 1 || env(ant(chiti,ant_sta(chiti,1),1),ant(chiti,ant_sta(chiti,1),2)) == 1)
env(ant(chiti,ant_sta(chiti,1),1),ant(chiti,ant_sta(chiti,1),2)) = 0;
continue;
end
min = -500;
r_temp = ant(chiti,ant_sta(chiti,1),1);
c_temp = ant(chiti,ant_sta(chiti,1),2);
l = li(randperm(8));
for ll = 1:8
r = ant(chiti,ant_sta(chiti,1),1)+lm(l(ll),1);
c = ant(chiti,ant_sta(chiti,1),2)+lm(l(ll),2);
if(r <= 0 || c <= 0 || r >= 251 || c >= 251 )
continue;
end
if(r>=goal(1)-1 && r<=goal(1)+10 && c>=goal(2)-1 && c<=goal(2)+10) %Goal Test
ant_sta(chiti,2) = 1;
r_temp = goal(1);
c_temp = goal(2);
goal_a(1) = r;
goal_a(2) = c;
reached_count = reached_count + 1;
if(reached == -1)
rho = 1;
reached = 1;
beta = 0;
alpha = 1;
end
for b=1:ant_sta(j,1)
a = ant_sta(j,1) + 1 -b;
if(ant(j,a,1) <=10 || ant(j,a,2) <=10 ||ant(j,a,1) >= 241 || ant(j,a,2) >= 241 )
phera(ant(j,a,1),ant(j,a,2)) = max(phera(ant(j,a,1),ant(j,a,2)) , 1/b);
else
temp_mat = filter*(1/b);
for u = 1:5
for v = 1:5
phera(ant(j,a,1)-15+5*u,ant(j,a,2)-15+5*v) = max(phera(ant(j,a,1)-15+5*u,ant(j,a,2)-15+5*v) , temp_mat(u,v));
end
end
end
end
break;
end
if(env(r,c) == 1)
trans = reached*(abs(phera(r,c))^alpha)/(((sqrt((goal_a(1)-r)^2+(goal_a(2)-c)^2)+1))^beta);
if(trans < min)
continue;
end
min = trans;
r_temp = r;
c_temp = c;
end
end
env(r_temp,c_temp) = 0;
if(~(ant(chiti,ant_sta(chiti,1),1) == r_temp && ant(chiti,ant_sta(chiti,1),2) == c_temp))
ant_sta(chiti,1) = ant_sta(chiti,1) +1;
else if(ant_sta(chiti,1) ~= 1&&(ant(chiti,ant_sta(chiti,1)-1,1) == r_temp && ant(chiti,ant_sta(chiti,1)-1,2) == c_temp))
ant_sta(chiti,1) = ant_sta(chiti,1) -1;
end
end
ant(chiti,ant_sta(chiti,1),1) = r_temp;
ant(chiti,ant_sta(chiti,1),2) = c_temp;
if(phera(r_temp,c_temp) <= 0)
if(r_temp <=10 || c_temp <=10 ||r_temp >= 241 || c_temp >= 241 )
phera(r_temp,c_temp) = phera(r_temp,c_temp) + phera_up;
else
temp_mat = filter*phera_up;
for u = 1:5
for v = 1:5
phera(r_temp-15+5*u,c_temp-15+5*v) = phera(r_temp-15+5*u,c_temp-15+5*v) + temp_mat(u,v);
end
end
end
end
path(r_temp,c_temp) = 0;
end
end
index = 1;
for i=1:total
if(ant_sta(i,2) == 1 && ant_sta(i,1) < ant_sta(index,1))
index = i;
end
end
for i = 1: ant_sta(index,1)
for ii = i+1:ant_sta(index,1)
if(ant(index,i,1) == ant(index,ii,1) && ant(index,i,2) == ant(index,ii,2))
for iii = 1:ant_sta(index,1)-i
ant(index,i+iii,1) = ant(index,iii+ii,1);
ant(index,i+iii,2) = ant(index,iii+ii,2);
end
ant_sta(index,1) = ant_sta(index,1) - ii +i;
end
end
end
for j=1:ant_sta(index,1)
env(ant(index,j,1),ant(index,j,2)) = 0;
pause(0.1);
figure(3);
im
