%%%%%%%%%%%%%%%%%%%%%%%
% 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
评论0