calcuonce.m

来自「多智能体工具包」· M 代码 · 共 75 行

function calcuonce
% CALCUONCE	Operate the main computation.

%     Copyright (c) 1997-2000 Jiming Liu and Jianbing Wu

global CELL HISTORY Response_Weight Class_Change_Dist Run_Times;
global Current_Goal Total_Cell_Num Goal_Vary_Tm Ga_Generations; 
global Fitness_Fun Bit_Length Population_Size Total_Generations Cross_Prob;
global Mutation_Prob Total_Cell_Num Single_Code_Width Reach_Now;

if isempty(Ga_Generations)
  New_Population=chrom_generat(Bit_Length,Population_Size);
else 
  New_Population=Ga_Generations;
end

%Crossover_Pop=cross_chrom(New_Population,Cross_Prob);
%Mutate_Pop=mutate(Crossover_Pop,Mutation_Prob);
%Selected_Pop=select_gen(Fitness_Fun,Mutate_Pop);
%Fittest_Chrom=Selected_Pop(1,:);
%Selected_Pop(1,:)=[];
%Selected_Pop=[Selected_Pop;Fittest_Chrom];
%Ga_Generations=Selected_Pop;

for mm=1:Population_Size
  Age=Run_Times*Population_Size+mm;

  Goal_History=[0 0 Age Current_Goal(1) Current_Goal(2)];
  HISTORY=[HISTORY;Goal_History];

  Sub_History=[];

  Current_Code=New_Population(mm,:);
%  Current_Code=Selected_Pop(mm,:);
  for Loop=1:Total_Cell_Num
    Current_Cell_Code=Current_Code((Loop-1)*Single_Code_Width+1:Loop*...
                 Single_Code_Width);
    Robot_Config(Loop,:)=get_code_config(Current_Cell_Code);
  end

  [Delta_Move,New_Object_Config]=move_object(Robot_Config);
  for Loop=1:Total_Cell_Num
    Temp_Config=Robot_Config(Loop,:)+Delta_Move;
    CELL(Loop,3:4)=get_new_config(Temp_Config);
    Sub_History=[Sub_History;1 Loop Age CELL(Loop,3:4)];
  end
  CELL(Total_Cell_Num+1,3:4)=New_Object_Config;
  HISTORY=[HISTORY;Sub_History];
  HISTORY=[HISTORY;3 1 Age New_Object_Config];
  
  GO_Diff=New_Object_Config-Current_Goal;
  Current_GO_Dist=sqrt(GO_Diff(1)^2+GO_Diff(2)^2);
  if Current_GO_Dist<0.2 
    Reach_Now=Reach_Now+1;
    if Reach_Now>3
      init_goal;
      Reach_Now=0;
      break;
    end
  else 
    Reach_Now=0;  
  end

%  plot_cell;
end

Crossover_Pop=cross_chrom(New_Population,Cross_Prob);
Mutate_Pop=mutate(Crossover_Pop,Mutation_Prob);
Selected_Pop=select_gen(Fitness_Fun,Mutate_Pop);
Fittest_Chrom=Selected_Pop(1,:);
Selected_Pop(1,:)=[];
Selected_Pop=[Selected_Pop;Fittest_Chrom];
Ga_Generations=Selected_Pop;