fitness.m

来自「多智能体工具包」· M 代码 · 共 66 行

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

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

global Total_Cell_Num CELL Current_Goal Step_Change_Ratio Step_Ratio;
global Last_MoveDirection Single_Code_Width;

Object_Config=get_object_config(3,1);
Goal_Vector=Current_Goal-Object_Config;
GO_dist=sqrt(Goal_Vector(1)^2+Goal_Vector(2)^2);

Robot_Config=[]; 
for mm=1:Total_Cell_Num
  Current_Cell_Code=chromosome((mm-1)*Single_Code_Width+1:mm*...
                 Single_Code_Width);
  Robot_Config(mm,:)=get_code_config(Current_Cell_Code);
end

% ------- Join Force -------- %
[Sum_Force,Force_Direction,Force_Vector]=force_calcu(Robot_Config);
if Sum_Force==0
  Sum_Force=0.0001;
end

% ------- Cosine of Co Angle ------- %
Cos_Angle=(Goal_Vector(1)*Force_Vector(1)+Goal_Vector(2)*Force_Vector(2))/...
         (GO_dist*Sum_Force);

if Cos_Angle<0
  Cos_Angle=0;
end

% ------ the Change of the Step   f3 ------ %
Step_Diff=Sum_Force*Step_Ratio-GO_dist*Step_Change_Ratio;
Step_Limit=exp(-5*Step_Diff*Step_Diff);

% ------- Force Difference before and aftet the motion   f4 ------- %
if isempty(Last_MoveDirection)
  Direction_Limit=1;
else
  Diff_Direction=Last_MoveDirection-Force_Direction;
  Direction_Limit=exp(-3*Diff_Direction*Diff_Direction);
end

% ---- F5 : average distance between the robtos and the Object -----
%Total_Dist=0;
%for mm=1:Total_Cell_Num
%  Diff_Now=Robot_Config(mm,:)-Object_Config;
%  Total_Dist=Total_Dist+sqrt(Diff_Now(1)^2+Diff_Now(2)^2)/Total_Cell_Num;
%end
%Fit_AvergeDist=1/Total_Dist^3;

% ---- F6 : average distance between the robtos and the Object -----
Total_Dist=[];
for mm=1:Total_Cell_Num
  Diff_Now=Robot_Config(mm,:)-Object_Config;
  Dist_Now=sqrt(Diff_Now(1)^2+Diff_Now(2)^2);
  Total_Dist=[Total_Dist Dist_Now];
end
Max_Dist=max(Total_Dist);
Fit_AvergeDist=1/Max_Dist^4;

%-----------------------------------
Fitness_Value=Sum_Force*Cos_Angle^2*Fit_AvergeDist;