rectmain.m

多智能体工具包

% RECTMAIN	Main program of square box pushing.

%     Copyright (c) 1998-2000 Jiming Liu and Jianbing Wu

close all;
clear all;
clc;

global GoalVaryTm RegionNum DirectionNum StepRatio RotateRatio;
global RobotNum WorkArea RobotSize ObjectSize ObjectShape;
global BitLength PopulationSize TotalGenerations CrossProb;
global MutationProb RegionCodeLen DirectCodeLen BreakGARatio SingleCodeWidth;
global MinInterval RunTimes CurrentPopulations FitnessFun FitnessValue;
global RobotHistory ObjectHistory GoalHistory ChromHistory FitnessEq;
global ObjectPosition GoalPosition CompareDist NewGoalLimit;
global AxisDirection StepChangeRatio LastMoveDierction EdgeLimit;

initial;
precalcu;
initpos;
[SaveDirectory,SaveItem]=saveini;
CurrentChrom=getchrom(CurrentPopulations);

TheFlag=1;
MutProb=0.3;

for loops=1:RunTimes
loops

  GoDiff=GoalPosition-ObjectPosition(1:2);
  GODist=sqrt(GoDiff(1)*GoDiff(1)+GoDiff(2)*GoDiff(2));
  if TheFlag
    if GODist<20
      MutProb=MutationProb(3);
      StepRatio=StepChangeRatio(3);
    elseif GODist<40
      MutProb=MutationProb(2);
      StepRatio=StepChangeRatio(2);
    elseif GODist<50
      MutProb=MutationProb(1);
      StepRatio=StepChangeRatio(1);
    end;
  end;
    
    if GODist<20
      StepRatio=StepChangeRatio(3);
    elseif GODist<40
      StepRatio=StepChangeRatio(2);
    elseif GODist<50
      StepRatio=StepChangeRatio(1);
    else 
      StepRatio=4;
    end;

  if (GODist<=CompareDist) | loops==90
    TheFlag=0;
    GoalPosition=newgoal;
  end;

  objaxis;
  for loop1=1:TotalGenerations
    [SelectedChrom,FittestValue,IsBreak]=select(FitnessFun,CurrentChrom);
    FittestChrom=SelectedChrom(1,:);
    if (TotalGenerations>1) & IsBreak
      break;
    end;
    CrossOverChrom=crosover(SelectedChrom,CrossProb);
    MutateChrom=mutate(CrossOverChrom,MutationProb);
    CurrentChrom=normal(MutateChrom);
  end;
  FitnessValue=[FitnessValue;FittestValue];

  kerncalc(FittestChrom);

  RunedTimes=loops;
end;

eval(['save ' SaveDirectory ' ' SaveItem ';']);