initial.m

多智能体工具包

function initial
%  INITIAL	Initial some variables into default.

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

global GoalVaryTm RegionNum DirectionNum StepRatio RotateRatio EdgeLimit;
global RobotNum WorkArea RobotSize ObjectSize ObjectShape StepChangeRatio;

global BitLength PopulationSize TotalGenerations CrossProb;
global MutationProb RegionCodeLen DirectCodeLen BreakGARatio;
global SingleCodeWidth RunTimes FitnessFun CompareDist NewGoalLimit;


%  System Parameters Initiization
RobotNum=3;

WorkArea=[100 100];
RobotSize=[1 1.5];

CompareDist=0.5;

ObjectShape=1;     %  1->Circular    2->Square 
ObjectSize=2;      %   (Radius)       (Width)
EdgeLimit=5;
NewGoalLimit=50;

RunTimes=200;
GoalVaryTm=100;
StepRatio=4;  % step is this number times the size of join force
StepChangeRatio=[2  0.5 0.2];  % step is this number times the size of join force
%StepChangeRatio=0.3;
RotateRatio=pi/6;

RegionNum=32;
RegionCodeLen=5;

DirectionNum=32;
DirectCodeLen=5;


% GAs parameters initialization

FitnessFun='fitness';
BitLength=(RegionCodeLen+DirectCodeLen)*RobotNum;
SingleCodeWidth=RegionCodeLen+DirectCodeLen;
PopulationSize=8;
TotalGenerations=1;
CrossProb=0.8;
%MutationProb=0.05;
MutationProb=[0.1 0.05 0.005];
BreakGARatio=0.7;