mutation.m

规则障碍物环境下的机器人路径规划matlab源码！

function newP3=mutation(newP2,m,n,d,Xlu,O)
Pm=0.03;
Mm=20;
sum=0;
M=newP2;
newP3=zeros(size(newP2));

M1=[];
for i=1:m-1
    Mr1=unidrnd(m);
    M1=M(Mr1,:);
    [m1,m2]=min(M1);
    Mr=rand;
    if Mr<=Pm
        s=round(3+(m2-1-2-1-3)*rand);
        if   s<=0
            break
        end
        xl=Xlu(s,1);
        xu=Xlu(s,2);
        for j=1:Mm
            a=rand;
            sum=sum+a;
        end
        M1(s+1)=(xl+xu)/2+(xu-xl)/6*(sum-0.5*Mm);
        M(Mr1,:)=M1;
     end
end
newP3=M;

 

%检测变异产生的个体是否超出变量范围
for i=1:m
    for j=1:18*n+20
        xl=Xlu(j,1);
        xu=Xlu(j,2);
        if newP3(i,j+1)<xl
            newP3(i,j+1)=xl;
        end
        if newP3(i,j+1)>xu
            newP3(i,j+1)=xu;
        end
    end
end