具有自主学习能力的发育网络代码---改进版，

function [ z_jihuo_cishu,shibie_jingdu] = test( d ,isnt_last,xianxing) %TEST 此处显示有关此函数的摘要 % 此处显示详细说明 %d代表目标和障碍物是否均为动态，0为静态，非0为动态 %isnt_last 不是最后一次运行为1， %xianxing 轨迹线型 %第123个障碍物可设置为动态 global net global y_neuron_num global z_neuron_num global bushu_temp shibie_jingdu=[]; xingzoubushu=0; %设置初始位置 %%%***初始位置1*%%%%%*%%%%***%%% % ax=180;ay=180; % fx=800;fy=700; % enx1=420;eny1=900; % enx2=600;eny2=550; % enx3=685;eny3=707; % enx4=290;eny4=300; % enx5=480;eny5=400; % enx6=400;eny6=470; % enx7=490;eny7=670; % enx8=300;eny8=700; % enx9=260;eny9=500; % enx10=700;eny10=200; % enx11=400;eny11=230; % enx12=320;eny12=400; % enx13=250;eny13=550; %初始位置2 % ax=180;ay=180; % fx=800;fy=700; % enx1=320;eny1=600; % enx2=430;eny2=630; % enx3=235;eny3=255; % enx4=260;eny4=300; % enx5=350;eny5=260; % enx6=450;eny6=400; % enx7=670;eny7=620; % enx8=650;eny8=450; % enx9=550;eny9=500; % enx10=740;eny10=560; % enx11=310;eny11=450; % enx12=580;eny12=760; % enx13=650;eny13=720; % %初始位置3 % ax=180;ay=180; % fx=800;fy=700; % enx1=290;eny1=400; % enx2=430;eny2=630; % enx3=235;eny3=255; % enx4=560;eny4=300; % enx5=320;eny5=310; % enx6=450;eny6=400; % enx7=700;eny7=560; % enx8=560;eny8=560; % enx9=650;eny9=500; % enx10=420;eny10=500; % enx11=510;eny11=450; % enx12=680;eny12=700; % enx13=540;eny13=640; %初始位置2 ax=180;ay=180; fx=800;fy=700; enx1=219;eny1=324; enx2=300;eny2=335; enx3=416;eny3=248; enx4=309;eny4=409; enx5=441;eny5=398; enx6=512;eny6=363; enx7=599;eny7=417; enx8=474;eny8=520; enx9=345;eny9=618; enx10=510;eny10=692; enx11=600;eny11=596; enx12=762;eny12=512; enx13=283;eny13=516; xla=[1,0];yla=[0,1]; agent=[ax,ay]; %智能体 friend=[fx,fy]; %目标机器人 chushi_f_dis=norm(friend-agent); enemy_1=[enx1,eny1]; enemy_2=[enx2,eny2]; enemy_3=[enx3,eny3]; %三个动态障碍物 enemy_4=[enx4,eny4]; enemy_5=[enx5,eny5]; %两个静态障碍物 enemy_6=[enx6,eny6]; enemy_7=[enx7,eny7]; enemy_8=[enx8,eny8]; enemy_9=[enx9,eny9]; enemy_10=[enx10,eny10]; enemy_11=[enx11,eny11]; enemy_12=[enx12,eny12]; enemy_13=[enx13,eny13]; x=1;y=1; if d>0&d<=3 ffx=1;ffy=1; elseif d>3&d<=6 ffx=-1;ffy=1; else ffx=-1;ffy=-1; end th=0; axis_jb=gca; guiji_x=[]; guiji_y=[]; enemy_1_jb=rectangle('Position',[enemy_1(1)-6,enemy_1(2)-6,12,12],'Curvature',[1,1]); enemy_2_jb=rectangle('Position',[enemy_2(1)-6,enemy_2(2)-6,12,12],'Curvature',[1,1]); enemy_3_jb=rectangle('Position',[enemy_3(1)-6,enemy_3(2)-6,12,12],'Curvature',[1,1]); % enemy_1_jb=rectangle('Position',[enemy_1(1)-6,enemy_1(2)-6,12,12],'Curvature',[1,1],'FaceColor','k'); % enemy_2_jb=rectangle('Position',[enemy_2(1)-6,enemy_2(2)-6,12,12],'Curvature',[1,1],'FaceColor','k'); % enemy_3_jb=rectangle('Position',[enemy_3(1)-6,enemy_3(2)-6,12,12],'Curvature',[1,1],'FaceColor','k'); enemy_5_jb=rectangle('Position',[enemy_5(1)-6,enemy_5(2)-6,12,12],'Curvature',[1,1],'FaceColor','k'); enemy_4_jb=rectangle('Position',[enemy_4(1)-6,enemy_4(2)-6,12,12],'Curvature',[1,1],'FaceColor','k'); enemy_6_jb=rectangle('Position',[enemy_6(1)-6,enemy_6(2)-6,12,12],'Curvature',[1,1],'FaceColor','k'); enemy_7_jb=rectangle('Position',[enemy_7(1)-6,enemy_7(2)-6,12,12],'Curvature',[1,1],'FaceColor','k'); enemy_8_jb=rectangle('Position',[enemy_8(1)-6,enemy_8(2)-6,12,12],'Curvature',[1,1],'FaceColor','k'); enemy_9_jb=rectangle('Position',[enemy_9(1)-6,enemy_9(2)-6,12,12],'Curvature',[1,1],'FaceColor','k'); enemy_10_jb=rectangle('Position',[enemy_10(1)-6,enemy_10(2)-6,12,12],'Curvature',[1,1],'FaceColor','k'); enemy_11_jb=rectangle('Position',[enemy_11(1)-6,enemy_11(2)-6,12,12],'Curvature',[1,1],'FaceColor','k'); enemy_12_jb=rectangle('Position',[enemy_12(1)-6,enemy_12(2)-6,12,12],'Curvature',[1,1],'FaceColor','k'); enemy_13_jb=rectangle('Position',[enemy_13(1)-6,enemy_13(2)-6,12,12],'Curvature',[1,1],'FaceColor','k'); friend_jb=rectangle('Position',[friend(1)-10,friend(2)-10,20,20],'Curvature',[1,1],'FaceColor','g'); agent_jb=rectangle('Position',[agent(1)-6,agent(2)-6,12,12],'Curvature',[0,0],'FaceColor','b'); axis([0,1000,0,1000]); f=gcf; set(f,'position',[0,0,1000,1000]); set(enemy_1_jb,'EraseMode','Xor'); set(enemy_2_jb,'EraseMode','Xor'); set(enemy_3_jb,'EraseMode','Xor'); set(enemy_5_jb,'EraseMode','Xor'); set(enemy_6_jb,'EraseMode','Xor'); set(enemy_4_jb,'EraseMode','Xor'); set(enemy_7_jb,'EraseMode','Xor'); set(enemy_8_jb,'EraseMode','Xor'); set(enemy_9_jb,'EraseMode','Xor'); set(enemy_10_jb,'EraseMode','Xor'); set(enemy_11_jb,'EraseMode','Xor'); set(enemy_12_jb,'EraseMode','Xor'); set(enemy_13_jb,'EraseMode','Xor'); set(friend_jb,'EraseMode','Xor'); set(agent_jb,'EraseMode','Xor'); %清空临时记忆区 for i=1:bushu_temp net.Y.temp_memory_neuron(i).zuobiao=[]; net.Y.temp_memory_neuron(i).goodOrBad=[]; end bushu_temp=0; %记录z区每个神经元激活的次数 z_jihuo_cishu=zeros(1,8); while(1) %% 朋友和敌人分别与智能体的角度theta、欧氏距离dis 6组 jiangli_zhi=2; changfa_zhi=2; jiangli_fx1=0; jiangli_fx2=0; changfa_fx1=0; changfa_fx2=0; jiangli_fx=jiangli_zhi*[jiangli_fx1,jiangli_fx2]; changfa_fx=changfa_zhi*[changfa_fx1,changfa_fx2]; drawnow; ffri=friend-agent; ee1=enemy_1-agent; ee2=enemy_2-agent; ee3=enemy_3-agent; ee5=enemy_5-agent; ee4=enemy_4-agent; ee6=enemy_6-agent; ee7=enemy_7-agent; ee8=enemy_8-agent; ee9=enemy_9-agent; ee10=enemy_10-agent; ee11=enemy_11-agent; ee12=enemy_12-agent; ee13=enemy_13-agent; jihe=[ffri;ee1;ee2;ee3;ee5;ee4;ee6;ee7;ee8;ee9;ee10;ee11;ee12;ee13]; for i=1:length(jihe) aa=[jihe(i,1),jihe(i,2)]; %表示方法有问题，有待解决！！！！ theax_i=acos(dot(aa,xla)/(norm(aa)*norm(xla))); thety_i=acos(dot(aa,yla)/(norm(aa)*norm(yla))); if(thety_i>pi/2) theta(i)=2*pi-theax_i; else theta(i)=theax_i; end dis(i)=norm(aa); end %% fri_theta=theta(1); fri_dis=dis(1); dd=find(dis(2:length(jihe))<=80); [c1,c2] = min(dis(2:length(jihe))); if length(dd)==0 if(fri_theta<=pi) en_theta=fri_theta+pi; else en_theta=fri_theta-pi; end % en_dis=dis(c2+1); en_dis=150; changfa_zhi=0; if(fri_dis<20) jiangli_zhi=0; elseif fri_dis<chushi_f_dis jiangli_zhi=1/(chushi_f_dis-20)*fri_dis-20/(chushi_f_dis-20); else jiangli_zhi=1; end pipeidu=0; fazhi=cos(pi/10); else en_theta=theta(c2+1); en_dis=dis(c2+1); jiangli_zhi=0; if(en_dis<=22) changfa_zhi=5; else changfa_zhi=-1/58*en_dis+80/58; end zhixian_zuobiao1=[cos(fri_theta),cos(en_theta)]/norm([cos(fri_theta),cos(en_theta)]); zhixian_zuobiao2=[sin(fri_theta),sin(en_theta)]/norm([sin(fri_theta),sin(en_theta)]); pipeidu=zhixian_zuobiao1*zhixian_zuobiao2'; fazhi=cos(pi/10); if(pipeidu<fazhi) bushu_temp=bushu_temp+1; net.Y.temp_memory_neuron(bushu_temp).zuobiao=[ffri,jihe(c2+1,:)]; end end jiangli_fx1=cos(fri_theta); jiangli_fx2=sin(fri_theta); chengfa_theta=en_theta+pi; if chengfa_theta>2*pi chengfa_theta=chengfa_theta-2*pi; end changfa_fx1=cos(chengfa_theta); changfa_fx2=sin(chengfa_theta);