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+ ?4 e6 L: i9 S; H& c一、简介
9 q8 l1 T9 _& Z& T/ B, x基于matlab蚁群算法的三维路径规划* W2 ]4 I. Y. M3 |- v4 u0 V
+ b- }* B; [8 V6 ?' g% t" {% z3 e二、源代码! E- e! x/ M: d y; A
%% 该函数用于演示基于蚁群算法的三维路径规划算法
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' g+ {9 l1 _6 R* f, A2 u9 g%% 清空环境4 w& K P( K: D; V( q
clc
: D' q6 k' J3 p& ^clear
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: I; `( ~4 J/ A%% 数据初始化
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%下载数据8 j9 j' z- N) {8 r
load HeightData HeightData$ d' e& N+ y6 P3 s$ I+ z
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%网格划分 b. ~& u g u! @. u: D2 {
LevelGrid=10;/ y4 C w4 B3 h& D5 ]) d: ?4 O7 @
PortGrid=21;
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* {" O+ U' \! k* Q2 \/ ~2 h%起点终点网格点 8 [! r/ N! k7 Q# l' S- ^/ t0 g
starty=10;starth=4;4 U7 ^, c% }6 a4 j# |- O2 K) \
endy=8;endh=5;) }$ j7 ]5 e& q9 k& n
m=1;
, e3 y6 f# K2 U! G. W9 Y%算法参数3 P/ L+ Y/ s( Z. F
PopNumber=10; %种群个数
* ]% |2 a, T( i8 k0 Q5 Y* UBestFitness=[]; %最佳个体/ r: ]- u1 j+ i
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%初始信息素
/ N# U$ [ L/ U! L) m4 ipheromone=ones(21,21,21);
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%% 初始搜索路径 G( M2 a# {( ^9 v1 D( t/ d7 Z
[path,pheromone]=searchpath(PopNumber,LevelGrid,PortGrid,pheromone, ...
9 e- H" |8 v# u+ w% v( L6 S HeightData,starty,starth,endy,endh); 3 u' h/ P- f% q5 i9 ?
fitness=CacuFit(path); %适应度计算
8 p ?0 Y, g. l4 }! v6 L[bestfitness,bestindex]=min(fitness); %最佳适应度
f( a4 a# u% Z. p) G. zbestpath=path(bestindex,:); %最佳路径
" s# q2 P. O) RBestFitness=[BestFitness;bestfitness]; %适应度值记录
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7 `; L# n1 r" \, Y! Q%% 信息素更新: o( M1 O* s1 ]
rou=0.2;6 b; p q: ~6 I) @+ @' a6 ^4 ~
cfit=100/bestfitness;
8 C9 b+ e! G) gfor i=2:PortGrid-1" T8 E6 R1 F' ~2 Z) u+ J
pheromone(i,bestpath(i*2-1),bestpath(i*2))= ...
4 u( }. `3 h. _7 @8 X n ` (1-rou)*pheromone(i,bestpath(i*2-1),bestpath(i*2))+rou*cfit;3 H1 Q5 s7 F8 `- e1 g2 }. |1 z
end5 v% E& _+ {5 u& _8 }/ c9 }
/ e8 e3 a9 s+ W( ^( N%% 循环寻找最优路径8 _, ? d& V! ?$ a2 Y, n5 T- D& H
for kk=1:100: J9 k2 D: \* Y" P C2 y
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%% 路径搜索
) u# X$ q2 S; J6 y. |. z [path,pheromone]=searchpath(PopNumber,LevelGrid,PortGrid,... x3 q2 E: ]5 Z1 {7 p
pheromone,HeightData,starty,starth,endy,endh);
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3 D" X: D0 _" W/ f- ] %% 适应度值计算更新
, a1 m" |; F1 S* }% }# v0 i! _1 f fitness=CacuFit(path);
: Y* b* A/ x& f- D% { [newbestfitness,newbestindex]=min(fitness);
6 I" W% R( e! p' m- ? if newbestfitness<bestfitness+ G1 M* o& O N d( W
bestfitness=newbestfitness;
6 s: E; ~2 S' q5 c$ A# h4 n bestpath=path(newbestindex,:);
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BestFitness=[BestFitness;bestfitness];# U6 U- ]/ _/ q/ h0 E9 ]
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%% 更新信息素0 X4 n( x# ~! y( b
cfit=100/bestfitness;9 _1 R0 f6 i3 R3 h5 P
for i=2:PortGrid-1
: k {% q) v1 k# A. [; `$ v pheromone(i,bestpath(i*2-1),bestpath(i*2))=(1-rou)* ...) Q8 O6 s& ?$ r; O- q2 i, K! P, P
pheromone(i,bestpath(i*2-1),bestpath(i*2))+rou*cfit;5 Q' n' B% x) }' u4 Z
end
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end0 I. x: T& X' f) x% }* N
5 x0 f+ A+ n* ^( B7 F! N/ P三、运行结果
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