show_two.m

来自「多智能体工具包」· M 代码 · 共 109 行

% SHOW_TWO	Compare the results between two experiments.

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

close all;
clear all;

%FLname1='f1_2';
FLname2='f1_2f2_2f6_4';
%FLname1='f2_1';
FLname1='f6_2';

Max_Age=101;           
Loop_Inc=5;
Robot_Num=3;

eval(['load ' FLname1 ';']);    % load the DATA

Force_Object1=[];
Force_Direct1=[];
Dist_GoalObject1=[];
Stand_Dist1=[];
Robot_Step1=[];


for mm=1:Max_Age 
  Object_Config=New_History(mm*Loop_Inc,4:5);
  Goal_Config=New_History((mm-1)*Loop_Inc+1,4:5);

  Diff_Config=Object_Config-Goal_Config;
  dist_GO_now=sqrt(Diff_Config(1)^2+Diff_Config(2)^2);
  Dist_GoalObject1=[Dist_GoalObject1 dist_GO_now];

  Begin_Row=(mm-1)*Loop_Inc+2;
  End_Row=Begin_Row+Robot_Num-1;
  Robot_Config=New_History(Begin_Row:End_Row,4:5);
  [Sum_Force,Force_Direction,Force_Vector]=calcuforce(...
               Robot_Config,Object_Config,Robot_Num);
  Force_Object1=[Force_Object1 Sum_Force];
  Force_Direct1=[Force_Direct1 Force_Direction];

  if mm>1
    Last_Object=New_History((mm-1)*Loop_Inc,4:5);
    Object_Diff=Last_Object-Object_Config;
    Step_Now=sqrt(Object_Diff(1)^2+Object_Diff(2)^2);
  end
  Robot_Step1=[Robot_Step1 Step_Now];

  Total_Dist=0;
  for mm=1:Robot_Num
    Diff_Now=Robot_Config(mm,:)-Object_Config;
    Total_Dist=Total_Dist+sqrt(Diff_Now(1)^2+Diff_Now(2)^2)/Robot_Num;
  end
  Stand_Dist1=[Stand_Dist1 Total_Dist];  
end

eval(['load ' FLname2 ';']);    % load the DATA

Force_Object2=[];
Force_Direct2=[];
Dist_GoalObject2=[];
Stand_Dist2=[];
Robot_Step2=[];

for mm=1:Max_Age          
  Object_Config=New_History(mm*Loop_Inc,4:5);
  Goal_Config=New_History((mm-1)*Loop_Inc+1,4:5);

  Diff_Config=Object_Config-Goal_Config;
  dist_GO_now=sqrt(Diff_Config(1)^2+Diff_Config(2)^2);
  Dist_GoalObject2=[Dist_GoalObject2 dist_GO_now];

  Begin_Row=(mm-1)*Loop_Inc+2;
  End_Row=Begin_Row+Robot_Num-1;
  Robot_Config=New_History(Begin_Row:End_Row,4:5);
  [Sum_Force,Force_Direction,Force_Vector]=calcuforce(...
               Robot_Config,Object_Config,Robot_Num);
  Force_Object2=[Force_Object2 Sum_Force];
  Force_Direct2=[Force_Direct2 Force_Direction];

  if mm>1
    Last_Object=New_History((mm-1)*Loop_Inc,4:5);
    Object_Diff=Last_Object-Object_Config;
    Step_Now=sqrt(Object_Diff(1)^2+Object_Diff(2)^2);
  end
  Robot_Step2=[Robot_Step2 Step_Now];

  Total_Dist=0;
  for mm=1:Robot_Num
    Diff_Now=Robot_Config(mm,:)-Object_Config;
    Total_Dist=Total_Dist+sqrt(Diff_Now(1)^2+Diff_Now(2)^2)/Robot_Num;
  end
  Stand_Dist2=[Stand_Dist2 Total_Dist];
end

xx=0:100;
yy=1:100;

%plot(xx,Force_Object1);
plot(xx,Dist_GoalObject1);
%plot(xx,Stand_Dist1);
hold on;
%plot(xx,Force_Object2,'r:');
plot(xx,Dist_GoalObject2,'r:');
%plot(xx,Stand_Dist2,'r:');
%ylabel('SUM(F)');
ylabel('Distance between Goal & Object');
%ylabel('Aver. Distance of Robts to Object');
xlabel('t');