show_result.m

来自「多智能体工具包」· M 代码 · 共 90 行

% SHOW_RESULT	Draw the results through the complete experiments.

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

close all;
clear all;

FLname='f1_2';
%FLname='f1_2f2_2f6_4';
%FLname='f2_1';
%FLname='f6_2';

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

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

Force_Object=[];
Force_Direct=[];
Dist_GoalObject=[];
Stand_Dist=[];
Robot_Step=[];


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_GoalObject=[Dist_GoalObject 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_Object=[Force_Object Sum_Force];
  Force_Direct=[Force_Direct 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_Step=[Robot_Step 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_Dist=[Stand_Dist Total_Dist];  
end

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

subplot(3,2,1);
plot(xx,Force_Object);
grid on;
ylabel('SUM(F)');

subplot(3,2,2);
plot(yy,Robot_Step);
grid on;
ylabel('Step');

subplot(3,2,3);       
plot(xx,Force_Direct);  
grid on;
ylabel('Angle(F)');  

subplot(3,2,4);       
plot(xx,Stand_Dist);  
grid on;
ylabel('Aver(Dor)');  

subplot(3,2,5);       
plot(xx,Dist_GoalObject);  
grid on;
ylabel('Dgo');  
xlabel('t');

subplot(3,2,6);
plot(xx,New_Gen);
grid on;
ylabel('Fitness');
xlabel('t');