initpos.m

多智能体工具包

function  initpos
% INITPOS	Initialize the position of the robots, the object and the goal.

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

global RobotNum WorkArea RobotSize ObjectSize ObjectShape;
global ObjectHistory GoalHistory ObjectPosition GoalPosition;
global ChromHistory;
global RegionNum DirectionNum CurrentPopulations PopulationSize;

% CurrentPopulations is the current really robot position and direction. As:
%      [R1Pos R2Pos ... RnPos R1Dir R2Dir ... RnDir;.......]

RobotHistory=[];
ChromHistory=[];
ObjectHistory=[];
GoalHistory=[];

ObjectPosition=[20 20];
ObjectHistory=[ObjectHistory; ObjectPosition];

GoalPosition=[70 90];
GoalHistory=[GoalHistory; GoalPosition];

% ---- 1st Generations
CurrentPopulations=[];
for loops=1:PopulationSize
  TempPosition=[];
  for loop1=1:RobotNum
    ThisState=0;
    while ~ThisState
      ThisPosition=floor(rand*RegionNum);
      ThisState=islegal(ThisPosition,TempPosition);
    end;
    TempPosition=[TempPosition ThisPosition];
  end;

  [ComparedValue,Sequence]=sort(TempPosition');
  ThisPosition=ComparedValue';
  ThisDirect=floor(rand(1,RobotNum)*DirectionNum);

  ThisSample=[ThisPosition ThisDirect];

  CurrentPopulations=[CurrentPopulations; ThisSample];
end;