【路径规划】基于人工蜂群算法的新型概率密度无人机作战路径规划附matlab代码

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信号处理              图像处理               路径规划       元胞自动机        无人机 

⛄ 内容介绍

了提高机器人在全局静态环境下路径规划的速度,本文提出了一种基于人工蜂群算法的机器人路径规划算法.该算法将蜜蜂分为侦察蜂,跟随蜂和引领蜂并分别实施不同的搜索策略.为了提高算法的环境适应性和搜索多样性,侦察蜂采用大步长在环境中进行花源搜索,以快速寻找最佳目标点;为了加快算法的搜索速度,同时使算法向最优路径收敛,使用跟随蜂进行局部路径搜索,以距离最近策略进行下一节点选择.大量仿真实验结果表明,该算法能在不同环境下规划出全局最优或近似最优路径,比相近的规划算法速度更快,效率更高.

⛄ 部分代码

clear all

close all

clc

NP=40; %/* The number of colony size (employed bees+onlooker bees)*/

FoodNumber=NP/2; %/*The number of food sources equals the half of the colony size*/

maxCycle=150; %/*The number of cycles for foraging {a stopping criteria}*/

limit=0.1*maxCycle; %/*A food source which could not be improved through "limit" trials is abandoned by its employed bee*/

D= 40;

ub=ones(1,D).*55; %/*lower bounds of the parameters. */

lb=ones(1,D).*-90;%/*upper bound of the parameters.*/

runtime=1;%/*Algorithm can be run many times in order to see its robustness*/

GlobalMins=zeros(1,runtime);

Range = repmat((ub-lb),[FoodNumber 1]);

Lower = repmat(lb, [FoodNumber 1]);

Foods = rand(FoodNumber,D) .* Range + Lower;

for r=1:runtime

for i = 1:FoodNumber

    ObjVal(i) = calcu(Foods(i,:));

end

Fitness = calculateFitness(ObjVal);

trial=zeros(1,FoodNumber);

BestInd=find(ObjVal==min(ObjVal));

BestInd=BestInd(end);

GlobalMin = ObjVal(BestInd);

GlobalParams=Foods(BestInd,:);

iter=1;

while ((iter <= maxCycle)),

    for i=1:(FoodNumber)

        Param2Change=fix(rand*D)+1;

        neighbour=fix(rand*(FoodNumber))+1;     

            while(neighbour==i)

                neighbour=fix(rand*(FoodNumber))+1;

            end;  

       sol=Foods(i,:);

       sol(Param2Change)=Foods(i,Param2Change)+(Foods(i,Param2Change)-Foods(neighbour,Param2Change))*(rand-0.5)*2;

        %

        ind=find(sol<lb);

        libai = rand(1,D).*(ub-lb)+lb;

        sol(ind)=libai(ind);

        ind=find(sol>ub);

        libai = rand(1,D).*(ub-lb)+lb;

        sol(ind)=libai(ind);

        %

        ObjValSol = calcu(sol);

        FitnessSol=calculateFitness(ObjValSol);

       if (FitnessSol>Fitness(i)) 

            Foods(i,:)=sol;

            Fitness(i)=FitnessSol;

            ObjVal(i)=ObjValSol;

            trial(i)=0;

        else

            trial(i)=trial(i)+1;

       end;

     end;

prob=(0.9.*Fitness./max(Fitness))+0.1;

i=1;

t=0;

while(t<FoodNumber)

    if(rand<prob(i))

        t=t+1;

        Param2Change=fix(rand*D)+1;

        neighbour=fix(rand*(FoodNumber))+1;     

            while(neighbour==i)

                neighbour=fix(rand*(FoodNumber))+1;

            end;

        

       sol=Foods(i,:);

       sol(Param2Change)=Foods(i,Param2Change)+(Foods(i,Param2Change)-Foods(neighbour,Param2Change))*(rand-0.5)*2;

        %

        ind=find(sol<lb);

        libai = rand(1,D).*(ub-lb)+lb;

        sol(ind)=libai(ind);

        ind=find(sol>ub);

        libai = rand(1,D).*(ub-lb)+lb;

        sol(ind)=libai(ind);

        %

        ObjValSol = calcu(sol);

        FitnessSol=calculateFitness(ObjValSol);

       if (FitnessSol>Fitness(i)) 

            Foods(i,:)=sol;

            Fitness(i)=FitnessSol;

            ObjVal(i)=ObjValSol;

            trial(i)=0;

        else

            trial(i)=trial(i)+1; %/*if the solution i can not be improved, increase its trial counter*/

       end;

    end;

    

    i=i+1;

    if (i==(FoodNumber)+1) 

        i=1;

    end;   

end; 

         ind=find(ObjVal==min(ObjVal));

         ind=ind(end);

         if (ObjVal(ind)<GlobalMin)

         GlobalMin=ObjVal(ind);

         GlobalParams=Foods(ind,:);

         end;

         

         

ind=find(trial==max(trial));

ind=ind(end);

if (trial(ind)>limit)

    trial(ind)=0;

    sol=(ub-lb).*rand(1,D)+lb;

    ObjValSol = calcu(sol);

    FitnessSol=calculateFitness(ObjValSol);

    Foods(ind,:)=sol;

    Fitness(ind)=FitnessSol;

    ObjVal(ind)=ObjValSol;

end;

fprintf('iteration = %d ObjVal=%g\n',iter,GlobalMin);

aaaaa(iter) = GlobalMin;

iter=iter+1;

end % End of ABC

storeer(r,:) = aaaaa;

end

radar1 = [100,200,300,120,220,320,70,170,270,140,240,390,420];

radar2 = [0,0,0,-50,-50,-50,40,40,40,70,20,40,-30];

r = [24,24,24,24,24,24,24,24,24,24,24,24,30];

fenmu = [71.8976   71.8976   71.8976   71.8976   71.8976   71.8976   71.8976   71.8976   71.8976 71.8976   71.8976   71.8976   89.8720];

figure (1)

a = mean(storeer);

plot(a)

figure (2)

hold on

plot(0,0,'k*')

plot(500,0,'ks')

for i = 1:13

hold on

plot(radar1(i),radar2(i),'ko');

cir_plot([radar1(i),radar2(i)],r(i));

end

legend('starting point','target point','threat center')

axis equal

for i = 1:(D-1)

    plot([500/(D+1)*i,500/(D+1)*(i+1)],[GlobalParams(i),GlobalParams(i+1)],'LineWidth',2);

    hold on

end

plot([0,500/(D+1)*(1)],[0,GlobalParams(1)],'LineWidth',2);

plot([500/(D+1)*D,500],[GlobalParams(D),0],'LineWidth',2);

⛄ 运行结果

⛄ 参考文献

[1] 夏瑞, 赵磊, 吴书宇,等. 基于人工蜂群算法的无人机协同路径规划[J]. 无线互联科技, 2018, 15(13):9.

[2] 王海泉, 胡瀛月, 廖伍代,等. 基于改进人工蜂群算法的机器人路径规划[J]. 控制工程, 2016, 23(9):5.

[3] 李保胜, 李士心, 刘晓倩,等. 基于改进人工蜂群算法的无人机路径规划研究[J]. 计算机科学与应用, 2022, 12(9):6.

[4] 张海涛. 基于人工蜂群算法的车辆主动悬架LQG控制设计[J]. 噪声与振动控制, 2016, 036(005):65-69,81.

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