SOM_Code
MATLAB Code of SOM (self-organizing maps) Neural Network Based Method for Task Assignment of Multi-Agent Systems
Authors: Xin Li
Email: lixin850224@163.com
Laboratory of Underwater Vehicles and Intelligent Systems
Shanghai Maritime University
close all;
% 设置搜索范围
xmin = [0; 0];
xmax = [50;50];
% 设定迭代次数
Step = 15;
% 设置AUV和目标点的参数
Dmin = 1;
count = 0;
Target=[15 15; 20 20; 10 10; 5 7; 11 17; 22 9 ]';
Robot = [6 20 11 16 18 19 20 10 8 ;6 16 17 14 11.9 19 8 16 9];
Mat = size(Target);
TarNum = Mat(1,2);
figure,
plot(Robot(1,:),Robot(2,:),'.r','MarkerSize',10);
axis([0 30 0 30]);
hold on
plot(Target(1,:),Target(2,:),'.g','MarkerSize',50);
hold off
...
...