ymmutation.m

规则障碍物环境下的机器人路径规划matlab源码！

function newP3=ymmutation(newP2,m,n,d,Xlu,O)
Pm=0.03;
Mm=20;
Mp=1/Mm;
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
            ar=rand;
            if ar<Mp
                a=1;
            else
                a=0;
            end
            sum=sum+a/2^(j-1);
        end
         Mr2=unidrnd(2);
        if Mr2==1
            M1(s+1)=M1(s+1)+0.5*(xu-xl)*sum;
        else
           M1(s+1)=M1(s+1)-0.5*(xu-xl)*sum;
        end
         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