fitness.m

多智能体工具包

function FitnessValue=fitness(chromosome)
% FITNESS	Fitness function for Genetic Algorithm.

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

global RobotNum ObjectPosition GoalPosition LastMoveDirection;
global RegionNum DirectionNum StepRatio ObjectSize;
global FitnessEq StepChangeRatio;

ThisCase=getreal(chromosome);
PositionDiff=ObjectPosition-GoalPosition;
GOdist=sqrt(PositionDiff(1)*PositionDiff(1)+PositionDiff(2)*PositionDiff(2));

% Join Force & Join Torque
XForce=0;
YForce=0;
JoinTorque=0;
for loop1=1:RobotNum
  [TakeRole,DeltaAngle]=takerole(ThisCase(loop1),ThisCase(loop1+RobotNum));
  if TakeRole
    XForce=XForce+cos(ThisCase(loop1+RobotNum)*2*pi/DirectionNum);
    YForce=YForce+sin(ThisCase(loop1+RobotNum)*2*pi/DirectionNum);

    [ThisTorque,TheSign]=gettorqu(DeltaAngle);
    JoinTorque=JoinTorque+ThisTorque*TheSign;
  end;
end;

JoinForce=sqrt(XForce*XForce+YForce*YForce);
JoinForceDir=atan2(YForce,XForce);

if JoinForce==0
  JoinForce=0.000001;
end;

TorqueEffect=ObjectSize*RobotNum-abs(JoinTorque);

CosJoinAngle=1.01+cos(JoinForceDir);
%if CosJoinAngle<=0
%  CosJoinAngle=0.000001;
%end;

%StepDiff=JoinForce*StepRatio-GOdist*StepChangeRatio;
%StepLimit=exp(-StepDiff*StepDiff);

%if isempty(LastMoveDirection)
%  DirectionLimit=0;
%else
%  DiffDirection=LastMoveDirection-JoinForceDir;
%  DirectionLimit=exp(-DiffDirection*DiffDirection);
%end;

%-----------------------------------
FitnessEq  ='JoinForce*CosJoinAngle*TorqueEffect';
FitnessValue=JoinForce*CosJoinAngle*TorqueEffect;
%*(0.1+DirectionLimit);