aaa---robot_rescue_base.nlogo

来自「NETLOGO」· NLOGO 代码 · 共 458 行

;;;
;;;  =================================================================
;;;
;;;      Definition of the simulation world
;;;
;;;  =================================================================
;;;
;;;
;;;  Global variables and constants
;;;
globals [WALL ROAD BUILDING HOSPITAL CLEARED DEBRIS CARRIED FLEET LIFTERS IMAGERS MIN_VICTIMS MAX_VICTIMS 
         SOMEONE NOT_RESCUED RESCUED NUM_STEPS BLOCK_SIZE TIME_OUT]

;;;
;;;  Initialise values of global variables: most ar used as constants
;;;
to set-globals 
  set WALL -1
  set ROAD 1
  set BUILDING 2
  set HOSPITAL -2
  set CLEARED 3
  set DEBRIS 4
  set CARRIED [ ]
  set FLEET 10
  set LIFTERS 4
  set IMAGERS 4
  set MIN_VICTIMS 15
  set MAX_VICTIMS 60
  set SOMEONE 5
  set NOT_RESCUED 0
  set RESCUED 1
  set BLOCK_SIZE 5
  set TIME_OUT 2880
end
;;;
;;;  Initialise the simulation
;;;
to reset
  ca ; clear all
  set-globals
  setup-patches
  setup-turtles
  set NUM_STEPS 0
  ask turtles [initialise-turtles]
end

;;;
;;;  Set up the agents. Create persons, robot-lifters, robot-imagers, ambulances.
;;;

;;;
;;;  Declare the kinds of turtles in this model (robot-lifters, robot-imagers, ambulances and persons)
;;;
breed [robot-lifters robot-lifter]
breed [robot-imagers robot-imager]
breed [ambulances ambulance]
breed [persons person]

;;;
;;; initialise all robots
;;;
to setup-turtles
locals[victims xpos ypos]

  ;; set ambulances up - FLEET gives number
  create-ambulances FLEET
  set-default-shape ambulances "car"
  foreach values-from ambulances [who]
  [set color-of turtle ?1 red 
  set xcor-of turtle ?1 (-12 + ?1)
  set ycor-of turtle ?1 -8
  set heading-of turtle ?1 270]
  
;; set up the robot lifters
  create-robot-lifters LIFTERS
  set-default-shape robot-lifters "van side"
  (foreach values-from robot-lifters [who] 
    [set color-of robot-lifter ?1 magenta
     ;; initial position after ambulances
     set xcor-of robot-lifter ?1  (-2 + ?1 - FLEET) 
     set ycor-of robot-lifter ?1 -8
     set heading-of robot-lifter ?1 90
     set passengers-of robot-lifter ?1 CARRIED])

;; set up the robot imagers
set-default-shape robot-imagers "truck-right"
create-robot-imagers IMAGERS
  (foreach values-from robot-imagers [who]
  [set color-of robot-imager ?1 green
   ;; Initial position after ambulances and lifters
   set xcor-of robot-imager ?1 2 + ?1 - (FLEET + LIFTERS)
   set ycor-of robot-imager ?1 -8
   set heading-of robot-imager ?1 90])
  
  ;; put random number of victims - between MiN and MAX - on the map but only in buildings and not on top of each other
  set-default-shape persons "person"
  set victims (random (MAX_VICTIMS - MIN_VICTIMS)) + MIN_VICTIMS
  create-persons victims
  (foreach values-from persons [who]
   [set xpos (random 19) - 10
    set ypos (random 12) - 6
    ;;; loop until find unoccupied building patch for a victim
    while [(occupancy-of patch xpos ypos = SOMEONE) or (kind-of patch xpos ypos = ROAD)]
          [set xpos (random 19) - 10
          set ypos (random 12) - 6]
    ;;; put the person on the chosen patch
    set xcor-of person ?1 xpos
    set ycor-of person ?1 ypos
    set occupancy-of patch xpos ypos SOMEONE])
end

;;;
;;;  Declare properties of the cells in the grid
;;;  kind = ROAD, BUILDING, WALL, HOSPITAL
;;;  occupancy = turtle on the patch
;;; 
patches-own [kind occupancy]

;;;
;;;  Set up the environment. Create the city
;;;
to setup-patches
  ;; make everything road by default
  ask patches
    [ set kind ROAD ]
  ask patches
    [ set pcolor gray + 4]    
    
  ;;; set up the surrounding wall
  foreach [-10 -9 -8 -7 -6 -5 -4 -3 -2 -1 1 0 1 2 3 4 5 6 7 8 9 10]
    [ set pcolor-of patch -13 ? black
      set kind-of patch -13 ? WALL
      set pcolor-of patch 11 ? black
      set kind-of patch 11 ? WALL]
      ;; allow way out for ambulances
      set kind-of patch -13 -8 ROAD
      set pcolor-of patch -13 -8 gray + 4
      set kind-of patch -13 -7 ROAD
      set pcolor-of patch -13 -7 gray + 4
      
 foreach [-14 -13 -12 -11 -10 -9 -8 -7 -6 -5 -4 -3 -2 -1 1 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14]
    [ set pcolor-of patch ? -10 black
      set kind-of patch ? -10 WALL
      set pcolor-of patch ? 8 black
      set kind-of patch ? 8 WALL]
      
  ;;; make one square the hospital 
  set pcolor-of patch 12 -8 red
  set kind-of patch 12 -8 HOSPITAL
      
  ;; set up some buildings
    setup-buildings -10 -6
    setup-buildings -3 -6
    setup-buildings 4 -6
    setup-buildings -10 1
    setup-buildings -3 1
    setup-buildings 4 1

end

to setup-buildings [xstart ystart]
locals[xpos ypos]
set xpos xstart
repeat BLOCK_SIZE
[set ypos ystart
 repeat BLOCK_SIZE
 [set pcolor-of patch xpos ypos blue + 2
 set kind-of patch xpos ypos BUILDING
 set ypos ypos + 1]
 set xpos xpos + 1]
 end



;;;
;;;  Update the state of the simulation
;;;
to update
  set NUM_STEPS (NUM_STEPS + 1)
  ;; update the state of all agents
  ask turtles [
      cycle-once
  ]
  ;; See if we are in the final state
  ;; Either everyone is rescued or we ran out of time
  if (people-rescued? = number-of-victims?) or (NUM_STEPS = TIME_OUT)
    [ stop ]  
end

;;;
;;; Report how many victims there were
;;;
to-report number-of-victims?
 report (count persons)
end

;;;
;;;  Count the number of people rescued
;;;
to-report people-rescued?
  report (count (persons with [status = RESCUED]))
end

;;;
;;;  Count the number of simulation steps executed
;;;
to-report number-of-steps
  report NUM_STEPS
end



;;;


;;;
;;;  =================================================================
;;;
;;;      Definition of agents
;;;
;;;  =================================================================
;;;

;;;
;;; Declare internal variables for the robot-lifters
;;;

robot-lifters-own [passengers]
;;; cargo: show which persons a lifter is carrying
;;;          
;;; 

;;;
;;;  Initialise different robots
;;;
to initialise-turtles
  ;; use breed here to differentiate between robots etc
  ;; e.g if breed = robot-lifters [ ]
end


;;;
;;; Ambulances carry passengers
;;;
ambulances-own[passengers] 
;;;
;;; Declare internal variables for people
;;; Give people a status (= NOT_RESCUED or RESCUED)
;;; Store number of carrying-robot

persons-own [status carrying-robot]

;;;
;;;  each robot calls its behaviours in this simulation cycle: all they do
;;;  right now is to move forward one square. This is where other things 
;;;  should be called, depending on the breed
;;; e.g. if breed = robot-lifters [ robot-lifter-move ]
;;;
to cycle-once
  if breed = robot-lifters
  [move-forwards]	  
end

;;;
;;; ------------------------
;;;   Actions
;;; ------------------------
;;;

;;;
;;;  Example showing movement of robot into cell in front of it
;;;  As this uses passenger-of it will not work for robot-imagers!
;;;
to move-forwards
  locals [in-front]
  set in-front (patch-ahead 1)  
  
  ;; check if the cell is free 
  if (kind-of in-front = ROAD) and (not any? turtles-on in-front)
  [ fd 1
    if (carrying-person? who)
    [move-passengers who]]
end

;;;
;;;  If turtle moves carrying person(s), then move them too 
;;;
to move-passengers [robot]
  foreach (passengers-of robot)
    [set xcor-of person ? (xcor-of robot)
    set ycor-of person ? (ycor-of robot)]
end

;;;
;;;  Rotate agent 90 degrees left
;;;
to rotate-left
  lt 90
end

;;;
;;;  Rotate agent 90 degrees right
;;;
to rotate-right
  rt 90
end

;;;
;;;  Rotate agent randomly left or right 90 degrees
;;;
to rotate-random
  ifelse (random 2 = 0)
  [ rotate-left ]
  [ rotate-right ]
end

;;;
;;; ------------------------
;;;   Sensors
;;; ------------------------
;;;

;;;
;;;  Check if robot is carrying a person: return boolean
;;;  true if is carrying
;;;
to-report carrying-person? [robot]
  report not (empty? (passengers-of (turtle robot)))
end

;;;
;;;  Check how many people a robot is carrying
;;;
to-report	number-carried? [robot]
  report (count passengers-of robot)
end

;;;
;;; Check if there is a person in front of the robot and return their id
;;;
to-report victim-found?
  locals [casualty]
  set casualty persons-on patch-ahead 1
  ; if there is a person to be rescued in front of the robot...
  if any? casualty 
    [report casualty]
end

@#$#@#$#@
GRAPHICS-WINDOW
321
10
911
461
14
10
20.0
1
10
1
1
1
0
1
1
1
-14
14
-10
10

CC-WINDOW
5
475
920
570
Command Center
0

BUTTON
29
26
94
59
NIL
Reset
NIL
1
T
OBSERVER
T
NIL

BUTTON
130
27
199
60
Run
update
T
1
T
OBSERVER
T
NIL

BUTTON
230
27
298
60
Step
update
NIL
1
T
OBSERVER
T
NIL

MONITOR
29
71
155
120
Number of victims
number-of-victims?
0
1

MONITOR
188
71
308
120
Number rescued
people-rescued?
0
1

MONITOR
189
129
307
178
Number of steps
number-of-steps
0
1

@#$#@#$#@
About this model
--------------------

This scenario pictures - schematically - the centre of Edinburgh where an earthquake has taken place and people are trapped in the buildings. Three types of agents have been mobilised to rescue them:
a) 4 Robot-imagers