智能优化赛算法+天牛须算法BAS+三维路径规规

%%%%%%%%%%%%%%%%%%%%%%% % 本main文档包含3个主程序的拼接，按顺序排列为ACO、BAS及ACO与BAS结合算法 % 迭代次数均为500（其中ACO算法200步几乎达到最优解） % BAS算法对初始路径较为敏感 %%%%%%%%%%%%%%%%%%%%%%% %% ACO算法 clc clear all close all %% 数据初始化 %下载数据 load HeightData tic %网格划分 LevelGrid=10; PortGrid=21; %起点终点网格点 starty=10;starth=4; endy=8;endh=5; m=1; %算法参数 PopNumber=20; %种群个数 BestFitness=[]; %最佳个体 %初始信息素 pheromone=ones(21,21,21); %% 初始搜索路径 [path,pheromone]=searchpath(PopNumber,LevelGrid,PortGrid,pheromone, ... HeightData,starty,starth,endy,endh); fitness=CacuFit(path); %适应度计算 [bestfitness,bestindex]=min(fitness); %最佳适应度 bestpath=path(bestindex,:); %最佳路径 BestFitness=[BestFitness;bestfitness]; %适应度值记录 %% 信息素更新 rou=0.2; cfit=100/bestfitness; for i=2:PortGrid-1 pheromone(i,bestpath(i*2-1),bestpath(i*2))= ... (1-rou)*pheromone(i,bestpath(i*2-1),bestpath(i*2))+rou*cfit; end %% 循环寻找最优路径 for kk=1:500 %% 路径搜索 [path,pheromone]=searchpath(PopNumber,LevelGrid,PortGrid,... pheromone,HeightData,starty,starth,endy,endh); %% 适应度值计算更新 fitness=CacuFit(path); [newbestfitness,newbestindex]=min(fitness); if newbestfitness<bestfitness bestfitness=newbestfitness; bestpath=path(newbestindex,:); end BestFitness=[BestFitness;bestfitness]; %% 更新信息素 cfit=100/bestfitness; for i=2:PortGrid-1 pheromone(i,bestpath(i*2-1),bestpath(i*2))=(1-rou)* ... pheromone(i,bestpath(i*2-1),bestpath(i*2))+rou*cfit; end % display([num2str(kk),'bestpath=[',num2str(bestpath),'],bestfitness=',num2str(bestfitness)]) end bestfitness toc disp(['运行时间: ',num2str(toc)]); %% 最佳路径 for i=1:21 a(i,1)=bestpath(i*2-1); a(i,2)=bestpath(i*2); end %% 俯视图 figure(1) x=1:21; y=1:21; [x1,y1]=meshgrid(x,y); mesh(x1,y1,HeightData) colormap(jet); axis([1,21,1,21,0,2000]) hold on k=1:21; plot3(k(1)',a(1,1)',a(1,2)'*200,'--o','LineWidth',2,... 'MarkerEdgeColor','k',... 'MarkerFaceColor','g',... 'MarkerSize',10) plot3(k(21)',a(21,1)',a(21,2)'*200,'--o','LineWidth',2,... 'MarkerEdgeColor','k',... 'MarkerFaceColor','y',... 'MarkerSize',10) text(k(1)',a(1,1)',a(1,2)'*200,'S'); text(k(21)',a(21,1)',a(21,2)'*200,'T'); xlabel('km','fontsize',12); ylabel('km','fontsize',12); zlabel('m','fontsize',12); title('Three-dimensional path planning space vertical view','fontsize',12) set(gcf, 'Renderer', 'ZBuffer') hold on plot3(k',a(:,1)',a(:,2)'*200,'--bo','Color',[0 0 1]); view(0,90)%'俯视图' hold on %% 3D视图 figure(2) x=1:21; y=1:21; [x1,y1]=meshgrid(x,y); mesh(x1,y1,HeightData) colormap(jet); axis([1,21,1,21,0,2000]) hold on k=1:21; plot3(k(1)',a(1,1)',a(1,2)'*200,'--o','LineWidth',2,... 'MarkerEdgeColor','k',... 'MarkerFaceColor','g',... 'MarkerSize',10) plot3(k(21)',a(21,1)',a(21,2)'*200,'--o','LineWidth',2,... 'MarkerEdgeColor','k',... 'MarkerFaceColor','y',... 'MarkerSize',10) text(k(1)',a(1,1)',a(1,2)'*200,'S'); text(k(21)',a(21,1)',a(21,2)'*200,'T'); xlabel('km','fontsize',12); ylabel('km','fontsize',12); zlabel('m','fontsize',12); title('Three-dimensional path planning space','fontsize',12) set(gcf, 'Renderer', 'ZBuffer') hold on p1=plot3(k',a(:,1)',a(:,2)'*200,'--bo','Color',[0 0 1]); hold on %% 去掉3D空间模型的剖视图 figure(3) x=1:21; y=1:21; [x1,y1]=meshgrid(x,y); axis([1,21,1,21,0,2000]) grid on hold on k=1:21; plot3(k(1)',a(1,1)',a(1,2)'*200,'--o','LineWidth',2,... 'MarkerEdgeColor','k',... 'MarkerFaceColor','g',... 'MarkerSize',10) plot3(k(21)',a(21,1)',a(21,2)'*200,'--o','LineWidth',2,... 'MarkerEdgeColor','k',... 'MarkerFaceColor','y',... 'MarkerSize',10) text(k(1)',a(1,1)',a(1,2)'*200,'S'); text(k(21)',a(21,1)',a(21,2)'*200,'T'); xlabel('km','fontsize',12); ylabel('km','fontsize',12); zlabel('m','fontsize',12); title('Three-dimensional path planning space','fontsize',12) set(gcf, 'Renderer', 'ZBuffer') hold on p2=plot3(k',a(:,1)',a(:,2)'*200,'--bo','Color',[0 0 1]); view(0,0); hold on %% 适应度变化 figure(4) plot(BestFitness,'LineWidth',2,'Color',[0 0 1]); title('Optimal fitness value trend') xlabel('Iteration') ylabel('Fitness value') hold on %% BAS % clc % clear all % close all %% 数据初始化 tic %下载数据 load HeightData %网格划分 LevelGrid=10;% PortGrid=21; %起点终点网格点 starty=10;starth=4; endy=8;endh=5; %算法参数 bestfitness=inf; BestFitness=[]; bestpath=zeros(1,42); bestfitness_store=[]; path_store=[]; eta = 0.998; step0=18; eta2=0.995; eta0=0.998; c=1; step=6; tempstep=0; n=500; k=PortGrid; z=1; pre=0;lat=0; %% 生成路径并判定是否合法 if starty<endy pre=starty;lat=endy; else pre=endy;lat=starty; end while(1) path1=round(unifrnd(round(pre),round(lat),1,21)); path2=round(unifrnd(2,10,1,21)); path=reshape([path1;path2],1,42); if checkpath(path, HeightData)==1 break; end z=z+1; if pre<=1||lat>=20 pre=1;lat=20; else % pre=0.999999*pre;lat=1.000001*lat; pre=pre-0.0005;lat=lat+0.0005; end end % z path(1,1:2)=[starty;starth]; path(1,41:42)=[endy;endh]; bestpath=path; bestfitness=CacuFit(bestpath); % display([num2str(1),'bestpath=[',num2str(bestpath),'],bestfitness=',num2str(bestfitness)]) bestfitness_store=bestfitness; path_store=[0;path';bestpath']; %% 天牛须建模1 for ii=1:n d0 =step/c; stepnew=step; % r=0; while(1) dir=rands(PortGrid*2,1); dir=(dir/norm(dir))'; leftpath=path-round(d0*10*dir/2); leftfitness=CacuFit(leftpath); rightpath=path+round(d0*10*dir/2); rightfitness=CacuFit(rightpath); path=path-round(stepnew*dir*sign(rightfitness-leftfitness)); path(1,1:2)=[starty;starth]; path(1,41:42)=[endy;endh]; if checkpath(path, HeightData)==1 break; else path=bestpath; stepnew=stepnew*eta2; % r=r+1; if stepnew<=1%||r>=800 break; end end end %%%%%%%%%%% smooth path for iii=2:20 if ((path(2*iii+1)-path(2*iii-1))^2 >=(step0)^2) path(2*iii-1)=path(2*(iii-1)-1); path(2*iii+1)=path(2*(iii-1)+1); end end step0=eta0*step0; %计算适应度 fitness=CacuFit(path); if fitness<bestfitness bestfitness=fitness; bestpath=path; end % path_store=cat(2,path_store,[ii;path;fitness]); bestfitness_store=[bestfitness_store;bestfitness]; % display([num2str(ii),'bestpath=[',num2str(bestpath),'],bestfitness=',num2str(bestfitness)]) BestFitness=bestfitness_store; step=step*eta; end bestfitness toc disp(['运行时间: ',num2str(toc)]); %% 最佳路径 %TODO:修改适应度变化的画图部分代码 for i=1:21 a(i,1)=bestpath(i*2-1); a(i,2)=bestpath(i*2); end figure(1) k=1:21; plot3(k',a(:,1)',a(:,2)'*200,'--ro','Color',[1 0 0]); hold on figure(2) k=1:21; plot3(k',a(:,1)',a(:,2)'*200,'--ro','Color',[1 0 0]); hold on figure(3) k=1:21; plot3(k',a(:,1)',a(:,2)'*200,'--ro','Color',[1 0 0]); hold on %% 适应度变化 figure(4) plot(BestFitness,'LineWidth',2,'Color',[1 0 0]); hold on %% ACO-BAS tic %网格