Matlab代码：任务分配，clarke and wright算法，单机器人路径规划

function data = GenData( xRange,yRange,customerNum,interval,maxFlightRange,payload,vt,vd,UAV_Nums) rand('twister', sum(100*clock)); x_range = xRange/interval; y_range = yRange/interval; m = x_range*y_range+1; data.customerPos(1,:)=(xRange-50)*rand(1,customerNum)+50;%一列代表一个坐标位置 data.customerPos(2,:)=(yRange-50)*rand(1,customerNum)+50; % Request = round(rand(1,customerNum));%产生需求序列，0-收取，1-派发 %产生Pw和dw % Pw = 10*rand(1,customerNum); % Dw = 10*rand(1,customerNum); % for i=1:x_range % for j=1:y_range % data.stoppingPos(1,(i-1)*y_range+j)=interval*i; % data.stoppingPos(2,(i-1)*y_range+j)=interval*j; % end % end % data.customerPos(1,:)=[251.4714731720767, 157.683831278411, 341.54655615309116, 348.6121221880802, 206.30573813735793, 83.70739816736935, 150.56262194216748]; % data.customerPos(2,:)=[245.51445986137117, 166.60739338457796, 148.4370271613006, 229.43457574794812, 184.2406436854877, 52.82143679878182, 113.58079897457375]; % data.stoppingPos(1,:) = [0, 100.0, 200.0, 300.0, 100.0, 200.0, 300.0]; % data.stoppingPos(2,:) = [0, 100.0, 100.0, 100.0, 200.0, 200.0, 200.0]; data.depotPos = [0;0]; % data.stoppingPos = [data.depotPos,data.stoppingPos]; data.allPos = [data.depotPos,data.customerPos]; % data.allKdtree = KDTreeSearcher(data.allPos'); % data.stoppingKdtree = KDTreeSearcher(data.stoppingPos'); % data.customerKdtree = KDTreeSearcher(data.customerPos'); % data.stoppingNum = length(data.stoppingPos(1,:)); data.stoppingNum = length(data.customerPos(1,:))+1; data.maxFlightRange = maxFlightRange; data.payload = payload; data.vt = vt; data.vd = vd; data.UAVNum = UAV_Nums; % data.Request = Request; % data.Pw = Pw; % data.Dw = Dw; num = length(data.allPos(1,:)); for i=1:num for j=i:num if i~=j dist = norm(data.allPos(:,i)-data.allPos(:,j)); data.disMatrix(i,j) = dist; data.disMatrix(j,i) = dist; else data.disMatrix(i,j) = 0.0; end end end end