mxanthus_swarm_opt.m

一个用MATLAB编写的优化控制工具箱

			elseif Jmove==Js % best to move in S direction
				Pindexfront(:,i,j+1)=s; 
			elseif Jmove==Jse % best to move in SE direction
				Pindexfront(:,i,j+1)=se; 
			elseif Jmove==Je % best to move in E direction
				Pindexfront(:,i,j+1)=e; 
			end
		end
	
		
		% Back of cell at NE location:
		
		if Pindexback(:,i,j)==ne
			Jmove=min([Jnw,Jw,Jsw,Js,Jse]); % Find the minimum cost of the three possible forward locations+left/right
			if Jmove==Jnw % best to move in NW direction
				Pindexfront(:,i,j+1)=nw; 
			elseif Jmove==Jw % best to move in W direction
				Pindexfront(:,i,j+1)=w; 
			elseif Jmove==Jsw % best to move in SW direction
				Pindexfront(:,i,j+1)=sw; 
			elseif Jmove==Js % best to move in S direction
				Pindexfront(:,i,j+1)=s; 
			elseif Jmove==Jse % best to move in SE direction
				Pindexfront(:,i,j+1)=se; 
			end
		end
	
		
		% Back of cell at E location:
		
		if Pindexback(:,i,j)==e
			Jmove=min([Jn,Jnw,Jw,Jsw,Js]); % Find the minimum cost of the three possible forward locations+left/right
			if Jmove==Jn % best to move in N direction
				Pindexfront(:,i,j+1)=n; 
			elseif Jmove==Jnw % best to move in NW direction
				Pindexfront(:,i,j+1)=nw; 
			elseif Jmove==Jw % best to move in W direction
				Pindexfront(:,i,j+1)=w; 
			elseif Jmove==Jsw % best to move in SW direction
				Pindexfront(:,i,j+1)=sw; 
			elseif Jmove==Js % best to move in S direction
				Pindexfront(:,i,j+1)=s; 
			end
		end
			
		% Back of cell at SE location:
		
		if Pindexback(:,i,j)==se
			Jmove=min([Jsw,Jw,Jnw,Jn,Jne]); % Find the minimum cost of the three possible forward locations+left/right
			if Jmove==Jsw % best to move in SW direction
				Pindexfront(:,i,j+1)=sw; 
			elseif Jmove==Jw % best to move in W direction
				Pindexfront(:,i,j+1)=w; 
			elseif Jmove==Jnw % best to move in NW direction
				Pindexfront(:,i,j+1)=nw; 
			elseif Jmove==Jn % best to move in N direction
				Pindexfront(:,i,j+1)=n; 
			elseif Jmove==Jne % best to move in NE direction
				Pindexfront(:,i,j+1)=ne; 
			end
		end
		
		
		% Back of cell at S location:
		
		if Pindexback(:,i,j)==s
			Jmove=min([Jw,Jnw,Jn,Jne,Je]); % Find the minimum cost of the three possible forward locations+left/right
			if Jmove==Jw % best to move in W direction
				Pindexfront(:,i,j+1)=w; 
			elseif Jmove==Jnw % best to move in NW direction
				Pindexfront(:,i,j+1)=nw; 
			elseif Jmove==Jn % best to move in N direction
				Pindexfront(:,i,j+1)=n; 
			elseif Jmove==Jne % best to move in NE direction
				Pindexfront(:,i,j+1)=ne; 
			elseif Jmove==Je % best to move in E direction
				Pindexfront(:,i,j+1)=e; 
			end
		end
		
		
		% Back of cell at SW location:
		
		if Pindexback(:,i,j)==sw
			Jmove=min([Jnw,Jn,Jne,Je,Jse]); % Find the minimum cost of the three possible forward locations+left/right
			if Jmove==Jnw % best to move in NW direction
				Pindexfront(:,i,j+1)=nw; 
			elseif Jmove==Jn % best to move in N direction
				Pindexfront(:,i,j+1)=n; 
			elseif Jmove==Jne % best to move in NE direction
				Pindexfront(:,i,j+1)=ne; 
			elseif Jmove==Je % best to move in E direction
				Pindexfront(:,i,j+1)=e; 
			elseif Jmove==Jse % best to move in SE direction
				Pindexfront(:,i,j+1)=se; 
			end
		end
	
	
		% Back of cell at W location:
		
		if Pindexback(:,i,j)==w
			Jmove=min([Jn,Jne,Je,Jse,Js]); % Find the minimum cost of the three possible forward locations+left/right
			if Jmove==Jn % best to move in N direction
				Pindexfront(:,i,j+1)=n; 
			elseif Jmove==Jne % best to move in NE direction
				Pindexfront(:,i,j+1)=ne; 
			elseif Jmove==Je % best to move in E direction
				Pindexfront(:,i,j+1)=e; 
			elseif Jmove==Jse % best to move in SE direction
				Pindexfront(:,i,j+1)=se; 
			elseif Jmove==Js % best to move in S direction
				Pindexfront(:,i,j+1)=s; 
			end
		end
	
	
		% Back of cell at NW location:
		
		if Pindexback(:,i,j)==nw
			Jmove=min([Jne,Je,Jse,Js,Jsw]); % Find the minimum cost of the three possible forward locations+left/right
			if Jmove==Jne % best to move in NE direction
				Pindexfront(:,i,j+1)=ne; 
			elseif Jmove==Je % best to move in E direction
				Pindexfront(:,i,j+1)=e; 
			elseif Jmove==Jse % best to move in SE direction
				Pindexfront(:,i,j+1)=se; 
			elseif Jmove==Js % best to move in S direction
				Pindexfront(:,i,j+1)=s; 
			elseif Jmove==Jsw % best to move in SW direction
				Pindexfront(:,i,j+1)=sw; 
			end
		end
	
	%%%%%%%%%%%%%%%%%%
	% Next, for the move determined above update cell location, chemoattractant, and slime trails

		Pindexback(:,i,j+1)=Pindexfront(:,i,j);
		Pfront(:,i,j+1)=[xt(Pindexfront(1,i,j+1),1);xt(Pindexfront(2,i,j+1),2)];
		Pback(:,i,j+1)=[xt(Pindexback(1,i,j+1),1);xt(Pindexback(2,i,j+1),2)];
	
		% Lay down slime trail 
		
		slimetrails(Pindexfront(2,i,j+1),Pindexfront(1,i,j+1))=min([slimetrails(Pindexfront(2,i,j+1),Pindexfront(1,i,j+1)),-slimedepth]); % Lay slime trail if not there			
		slimetrails(Pindexback(2,i,j+1),Pindexback(1,i,j+1))=min([slimetrails(Pindexback(2,i,j+1),Pindexback(1,i,j+1)),-slimedepth]); % Lay slime trail if not there			
		
	
	end  % Go to next bacterium

	% Evaporate:
	
	slimetrails=slimeevaporationrate*slimetrails;  % Evaporate slime
	
	% Save the following for plotting
	
	if j==Nc/2
		slimetrailspart=slimetrails;
	end

	
%---------------------------------
end  % j=1:Nc
%---------------------------------




%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Next, provide some plots of the results of the simulation.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Plot bacteria locations, part way

figure(3) 
clf
if flag~=1
	contour(xt(:,1),xt(:,2),nutrients,20)
	colormap(jet)
end
hold on
contour(xt(:,1),xt(:,2),slimetrailspart,5) % Put on slime trail
colormap(jet)
plot(squeeze(Pfront(1,:,Nc/2)),squeeze(Pfront(2,:,Nc/2)),'kx')
plot(squeeze(Pback(1,:,Nc/2)),squeeze(Pback(2,:,Nc/2)),'ko') 
xlabel('\theta_1');
ylabel('\theta_2');
title('Bacteria locations and slime trails, part way (x=front, o=back)')
hold off

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Plot final locations:

figure(4) 
clf
if flag~=1
	contour(xt(:,1),xt(:,2),nutrients,20)
	colormap(jet)
end
hold on
contour(xt(:,1),xt(:,2),slimetrails,5) % Put on slime trail
colormap(jet)
plot(squeeze(Pfront(1,:,Nc)),squeeze(Pfront(2,:,Nc)),'kx')
plot(squeeze(Pback(1,:,Nc)),squeeze(Pback(2,:,Nc)),'ko') 
xlabel('\theta_1');
ylabel('\theta_2');
title('Bacteria locations and slime trails, final (x=front, o=back)')
hold off


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Next, show a movie of the movements of the bacteria positions

%figure(5) 
%clf

%M = moviein(Nc);
%	for j=1:Nc;
%		xlabel('\theta_1')
%		ylabel('\theta_2')
%		title('Bacteria movements (x marks food location)')
%		plot(squeeze(Pfront(1,:,j)),squeeze(Pfront(2,:,j)),'*')
%		axis([0,30,0,30])
%		hold on
%		foodlocation=plot(8,25,'rx');
%		set(foodlocation,'MarkerSize',15)
%		set(foodlocation,'LineWidth',3)
%		hold off
%        M(:,j)=getframe;
%    end;
	
%movie(M,0)
%save bacteria_swarm

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% End of program
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%