matlab-(含教程)基于元胞自动机的校园疏散动态模拟仿真

classdef Vehicle < handle properties id; withInfo; % defines if the robot will follow with knowledge mechanism or without knowledge mechanism shaftLength = 0.1; % 0.1 wheelRadius = 0.02; % 0.02 distanceBetweenSensors = 0.1; % 0.1 position; % [x; y; bearing] positionHistory; positionLeftSensor; % [x; y] positionRightSensor; healthPoints; alive; speed; fearFactor; room; % the room which it is in rooms; doors; costs; target; roomsWithFire; hasExited = false; lastDoor = 0; % last door it came through, arbitrary 0 when it just initialised leftLineHandle; %left side of vehicle rightLineHandle; %right side of vehicle frontLineHandle; %front of vehicle backLineHandle; %back of vehile leftWheelHandle; %wheel left rightWheelHandle; %wheel right leftSensorHandle; %sensor left rightSensorHandle; %sensor right historyPlotColour; positionHandle; % only use it to draw a blob instead of the full %left/right/front/back and wheels of the vehicle % ------only relevant if withInfo is false--------- roomsSeen; % the rooms the vehicle has been to. The vehicle does not know the % layout of the building. % ------only relevant if withInfo is false--------- end methods function obj = Vehicle(id, position, rooms, doors, withInfo, historyPlotColour) obj.id = id; obj.withInfo = withInfo; obj.position = position; obj.positionHistory = (position); obj.positionLeftSensor = position(1:2) + obj.shaftLength/2*[cos(position(3));sin(position(3))] + ... obj.distanceBetweenSensors/2*[-sin(position(3));cos(position(3))]; obj.positionRightSensor = position(1:2) + obj.shaftLength/2*[cos(position(3));sin(position(3))] + ... obj.distanceBetweenSensors/2*[sin(position(3));-cos(position(3))]; obj.healthPoints = 30000; obj.alive = true; % set the speed and risk taking factor randomly obj.speed = 0.5 + 1*rand(1,1); % cost increments by 10*fearFactor when encountering fire obj.fearFactor = rand(1,1)*0.4 + 2.8; % obj.fearFactor = 30; obj.rooms = rooms; obj.room = obj.getRoom(rooms); obj.doors = doors; if (~obj.withInfo) obj.roomsSeen = [obj.room.id]; end obj.initialiseCosts(); obj.target = obj.getTarget(obj.room); obj.faceDoor([obj.target.x, obj.target.y]); obj.roomsWithFire = []; % initialise room with fire for the current room if (obj.room.hasFire()) obj.roomsWithFire = [obj.roomsWithFire, obj.room.id]; end obj.leftLineHandle = line(0,0,'color','k','LineWidth',2); %left side of vehicle obj.rightLineHandle = line(0,0,'color','k','LineWidth',2); %right side of vehicle obj.frontLineHandle = line(0,0,'color','k','LineWidth',2); %front of vehicle obj.backLineHandle = line(0,0,'color','k','LineWidth',2); %back of vehicle obj.leftWheelHandle = line(0,0,'color','k','LineWidth',5); %wheel left obj.rightWheelHandle = line(0,0,'color','k','LineWidth',5); %wheel right % set the robot to red if it has information, to green if it % does not if (obj.withInfo) obj.leftSensorHandle = line(0,0,'color','r','Marker','.','MarkerSize',25); %sensor left obj.rightSensorHandle = line(0,0,'color','r','Marker','.','MarkerSize',25); %sensor right else obj.leftSensorHandle = line(0,0,'color','g','Marker','.','MarkerSize',25); %sensor left obj.rightSensorHandle = line(0,0,'color','g','Marker','.','MarkerSize',25); %sensor right end obj.historyPlotColour = historyPlotColour; obj.positionHandle = line(0,0,'color','k','Marker','.','MarkerSize',20); %position. only use it to draw a blob instead of the full %left/right/front/back and wheels of the vehicle end function updatePosition(self, omegaLeftWheel, omegaRightWheel) velocity = (omegaLeftWheel*self.wheelRadius + omegaRightWheel*self.wheelRadius)/2; %this might be the velocity of car dphi = (omegaRightWheel*self.wheelRadius - omegaLeftWheel*self.wheelRadius)/2/(self.shaftLength/2); % Remove minus sign to switch polarity, now it goes away from fire % minus sign is changing going towards/away from lightsource dt = 5 * self.speed; % how fast the animation is (the faster the animation, the less accurate the computation) self.position = self.position + [velocity*cos(self.position(3));velocity*sin(self.position(3));dphi]*dt; self.positionLeftSensor = self.position(1:2) + self.shaftLength/2*[cos(self.position(3));sin(self.position(3))] + self.distanceBetweenSensors/2*[-sin(self.position(3));cos(self.position(3))]; self.positionRightSensor = self.position(1:2) + self.shaftLength/2*[cos(self.position(3));sin(self.position(3))] + self.distanceBetweenSensors/2*[sin(self.position(3));-cos(self.position(3))]; self.positionHistory = [self.positionHistory, self.position]; end function distance = getDistanceToFire(self, positionFire) % distances = [distance to left sensor, distance to right % sensor] distance = [norm(self.positionLeftSensor - positionFire), norm(self.positionRightSensor - positionFire)]; end function distance = getDistanceToDoor(self, positionDoor) % distances = [distance to left sensor, distance to right % sensor] distance = [norm(self.positionLeftSensor - positionDoor), norm(self.positionRightSensor - positionDoor)]; end function faceDoor(self, positionDoor) angle = self.getAngleToDoor(positionDoor); if (angle > 0) while (abs(angle) > 0.05) self.updatePosition(-0.1, 0.1); angle = self.getAngleToDoor(positionDoor); end else while (abs(angle) > 0.05) self.updatePosition(0.1, -0.1); angle = self.getAngleToDoor(positionDoor); end end end function vehiclesInRoom = getVehiclesInRoom(self, vehicles) % argument vehicles is all vehicles on the map apart from % itself vehiclesInRoom = []; for i = 1: numel(vehicles) if (vehicles(i) ~= self) if (vehicles(i).room == self.room) vehiclesInRoom = [vehiclesInRoom, vehicles(i)]; end end end end function angle = getAngleToDoor(self, positionDoor) u = [positionDoor(1) - self.position(1), positionDoor(2) - self.position(2)]; v = [(self.positionLeftSensor(1) + self.positionRightSensor(1)) / 2 - self.position(1), (self.positionLeftSensor(2) + self.positionRightSensor(2)) / 2- self.position(2)]; cosTheta = dot(u,v)/(norm(u)*norm(v)