基于蚁群算法的动态最优路径规划.zip_动态优化_动态路径规划

<html xmlns="http://www.w3.org/1999/xhtml"> <head> <meta charset="utf-8"> <meta name="generator" content="pdf2htmlEX"> <meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1"> <link rel="stylesheet" href="https://static.pudn.com/base/css/base.min.css"> <link rel="stylesheet" href="https://static.pudn.com/base/css/fancy.min.css"> <link rel="stylesheet" href="https://static.pudn.com/prod/directory_preview_static/62663db24c65f41259357220/raw.css"> <script src="https://static.pudn.com/base/js/compatibility.min.js"></script> <script src="https://static.pudn.com/base/js/pdf2htmlEX.min.js"></script> <script> try{ pdf2htmlEX.defaultViewer = new pdf2htmlEX.Viewer({}); }catch(e){} </script> <title></title> </head> <body> <div id="sidebar" style="display: none"> <div id="outline"> </div> </div> <div id="pf1" class="pf w0 h0" data-page-no="1"><div class="pc pc1 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/62663db24c65f41259357220/bg1.jpg"><div class="c x0 y1 w2 h2"><div class="t m0 x1 h3 y2 ff1 fs0 fc0 sc0 ls0 ws0">clear <span class="fc1">all</span></div><div class="t m0 x1 h3 y3 ff1 fs0 fc0 sc0 ls0 ws0">clear</div><div class="t m0 x1 h3 y4 ff1 fs0 fc0 sc0 ls0 ws0">clc</div><div class="t m0 x1 h3 y5 ff1 fs0 fc0 sc0 ls0 ws0">M=82;</div><div class="t m0 x1 h3 y6 ff1 fs0 fc0 sc0 ls0 ws0">A=[0;0];</div><div class="t m0 x1 h3 y7 ff1 fs0 fc0 sc0 ls0 ws0">B=[10;10];</div><div class="t m0 x1 h3 y8 ff1 fs0 fc0 sc0 ls0 ws0">rand(<span class="fc1">'state'</span>,0)</div><div class="t m0 x1 h3 y9 ff1 fs0 fc0 sc0 ls0 ws0">G=rand(2,80)*10;</div><div class="t m0 x1 h3 ya ff1 fs0 fc0 sc0 ls0 ws0">U=[A G B];</div><div class="t m0 x1 h3 yb ff1 fs0 fc0 sc0 ls0 ws0">C=U';</div><div class="t m0 x1 h3 yc ff1 fs0 fc0 sc0 ls0 ws0">K=10;Alpha=1;Beta=5;Rho=0.5;Q=100;</div><div class="t m0 x1 h3 yd ff1 fs0 fc0 sc0 ls0 ws0">N=size(C,1);D=ones(N,N);</div><div class="t m0 x1 h3 ye ff1 fs0 fc0 sc0 ls0 ws0">Length_best=ones(K,1);</div><div class="t m0 x1 h3 yf ff1 fs0 fc0 sc0 ls0 ws0"> Routh_best=cell(K,1);</div><div class="t m0 x1 h3 y10 ff1 fs0 fc0 sc0 ls0 ws0"> Length_average=ones(K,1);</div><div class="t m0 x1 h3 y11 ff1 fs0 fc2 sc0 ls0 ws0">for<span class="fc0"> i=1:N</span></div><div class="t m0 x1 h3 y12 ff1 fs0 fc0 sc0 ls0 ws0"> <span class="fc2">for</span> j=1:N</div><div class="t m0 x1 h3 y13 ff1 fs0 fc0 sc0 ls0 ws0"> <span class="fc2">if</span> i < j</div><div class="t m0 x1 h3 y14 ff1 fs0 fc0 sc0 ls0 ws0"> D(i,j)=sqrt((C(i,1)-</div><div class="t m0 x1 h3 y15 ff1 fs0 fc0 sc0 ls0 ws0">C(j,1))^2+(C(i,2)-C(j,2))^2);</div><div class="t m0 x1 h3 y16 ff1 fs0 fc0 sc0 ls0 ws0"> <span class="fc2">end</span></div><div class="t m0 x1 h3 y17 ff1 fs0 fc0 sc0 ls0 ws0"> D(j,i)=D(i,j);</div><div class="t m0 x1 h3 y18 ff1 fs0 fc0 sc0 ls0 ws0"> <span class="fc2">end</span></div><div class="t m0 x1 h3 y19 ff1 fs0 fc2 sc0 ls0 ws0">end</div><div class="t m0 x1 h3 y1a ff1 fs0 fc0 sc0 ls0 ws0">Eta=ones(N,N);</div><div class="t m0 x1 h3 y1b ff1 fs0 fc0 sc0 ls0 ws0">D_average=mean(mean(D));</div><div class="t m0 x1 h3 y1c ff1 fs0 fc0 sc0 ls0 ws0">R_max=4*D_average;</div><div class="t m0 x1 h3 y1d ff1 fs0 fc0 sc0 ls0 ws0">E=2*ones(N,1);</div><div class="t m0 x1 h3 y1e ff1 fs0 fc0 sc0 ls0 ws0">E1=zeros(N,1);</div><div class="t m0 x1 h3 y1f ff1 fs0 fc0 sc0 ls0 ws0">E2=zeros(N,1);</div><div class="t m0 x1 h3 y20 ff1 fs0 fc0 sc0 ls0 ws0">E3=2*ones(N,1);</div></div></div><div class="pi" data-data='{"ctm":[1.568627,0.000000,0.000000,1.568627,0.000000,0.000000]}'></div></div> </body> </html>

<div id="pf2" class="pf w0 h0" data-page-no="2"><div class="pc pc2 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/62663db24c65f41259357220/bg2.jpg"><div class="c x0 y1 w2 h2"><div class="t m0 x1 h3 y2 ff1 fs0 fc0 sc0 ls0 ws0">kd=2000;</div><div class="t m0 x1 h3 y3 ff1 fs0 fc0 sc0 ls0 ws0">Eelec=50*10.^-9;</div><div class="t m0 x1 h3 y4 ff1 fs0 fc0 sc0 ls0 ws0">Eamp=100*10.^-12;</div><div class="t m0 x1 h3 y21 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h3 y22 ff1 fs0 fc2 sc0 ls0 ws0">for<span class="fc0"> i=1:N</span></div><div class="t m0 x1 h3 y23 ff1 fs0 fc0 sc0 ls0 ws0"> <span class="fc2">for</span> j=1:N</div><div class="t m0 x1 h3 y24 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h3 y25 ff1 fs0 fc0 sc0 ls0 ws0">Eta(i,j)=1/D(i,j);</div><div class="t m0 x1 h3 y26 ff1 fs0 fc0 sc0 ls0 ws0"> <span class="fc2">end</span></div><div class="t m0 x1 h3 y27 ff1 fs0 fc2 sc0 ls0 ws0">end</div><div class="t m0 x1 h3 y28 ff1 fs0 fc0 sc0 ls0 ws0">Tau = ones(N,N);</div><div class="t m0 x1 h3 y29 ff1 fs0 fc0 sc0 ls0 ws0">Routes=cell(K,M);</div><div class="t m0 x1 h3 y2a ff1 fs0 fc0 sc0 ls0 ws0">PL=zeros(K,M);</div><div class="t m0 x1 h3 y2b ff1 fs0 fc2 sc0 ls0 ws0">for<span class="fc0"> k=1:K</span></div><div class="t m0 x1 h3 y2c ff1 fs0 fc0 sc0 ls0 ws0"> disp(k);</div><div class="t m0 x1 h3 y2d ff1 fs0 fc0 sc0 ls0 ws0"> <span class="fc2">for</span> m=1:M</div><div class="t m0 x1 h3 y2e ff1 fs0 fc0 sc0 ls0 ws0"> W=1;</div><div class="t m0 x1 h3 y2f ff1 fs0 fc0 sc0 ls0 ws0"> Path=1;</div><div class="t m0 x1 h3 y30 ff1 fs0 fc0 sc0 ls0 ws0"> PLkm=0;</div><div class="t m0 x1 h3 y31 ff1 fs0 fc0 sc0 ls0 ws0"> Tabukm=ones(1,N);</div><div class="t m0 x1 h3 y32 ff1 fs0 fc0 sc0 ls0 ws0"> Tabukm(1)=0;</div><div class="t m0 x1 h3 y33 ff1 fs0 fc0 sc0 ls0 ws0"> DD=D;</div><div class="t m0 x1 h3 y34 ff1 fs0 fc0 sc0 ls0 ws0"> DW=DD(W,:);</div><div class="t m0 x1 h3 y35 ff1 fs0 fc0 sc0 ls0 ws0"> <span class="fc2">while</span> W~=N </div><div class="t m0 x1 h3 y36 ff1 fs0 fc0 sc0 ls0 ws0"> <span class="fc2">for</span> j=1:N</div><div class="t m0 x1 h3 y37 ff1 fs0 fc0 sc0 ls0 ws0"> <span class="fc2">if</span> Tabukm(j)==0</div><div class="t m0 x1 h3 y38 ff1 fs0 fc0 sc0 ls0 ws0"> DD(W,j)=inf;</div><div class="t m0 x1 h3 y39 ff1 fs0 fc0 sc0 ls0 ws0"> <span class="fc2">end</span></div><div class="t m0 x1 h3 y3a ff1 fs0 fc0 sc0 ls0 ws0"> <span class="fc2">end</span></div><div class="t m0 x1 h3 y3b ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h3 y3c ff1 fs0 fc0 sc0 ls0 ws0"> LJD=find(DD(W,:)<R_max);</div><div class="t m0 x1 h3 y3d ff1 fs0 fc0 sc0 ls0 ws0"> Len_LJD=length(LJD);</div></div></div><div class="pi" data-data='{"ctm":[1.568627,0.000000,0.000000,1.568627,0.000000,0.000000]}'></div></div>