飞行器模拟仿真优化版

在此前基础上，优化增加俩种模式选择，分区域，队列

模式一：分区域

通过聚类算法k-means 将整个路径划分为三块，然后单独分配给无人机去搜寻，起始无人机将保持三角形阵形，开始搜索后将走向各自负责区域

聚类算法，及初始化三角形

# 使用 K-means 算法对路径进行聚类
kmeans = KMeans(n_clusters=3, n_init=10)
df['cluster'] = kmeans.fit_predict(df[['x', 'y']])

colors = ['blue', 'green', 'yellow']
cluster_data_points = [df[df['cluster'] == i] for i in range(3)]
# 初始化小红点在中心位置的三角形阵形
triangle_offsets = np.array([[0, 2], [-2, -1], [2, -1]])
dots = []
for offset in triangle_offsets:
    dot, = ax.plot(center_x + offset[0], center_y + offset[1], 'ro')
    dots.append(dot)

模式一   聚类算法

def animate_mode1(frame, total_frames, move_back_start):
    frames_per_segment = 10  # 每个线段之间的帧数

    for i, cluster_data in enumerate(cluster_data_points):
        ax.plot(cluster_data['x'], cluster_data['y'], marker='o', color=colors[i])


    for i, dot in enumerate(dots):
        if frame < 100:  # 平滑移动到起点
            start_x, start_y = cluster_data_points[i].iloc[0][['x', 'y']]
            dot.set_data(np.linspace(center_x, start_x, 100)[frame],
                         np.linspace(center_y, start_y, 100)[frame])
        elif frame < move_back_start:
            # 遍历路径
            frame_adjusted = frame - 100
            segment_index = frame_adjusted // frames_per_segment
            segment_progress = frame_adjusted % frames_per_segment / frames_per_segment

            if segment_index < len(cluster_data_points[i]) - 1:
                start_point = cluster_data_points[i].iloc[segment_index][['x', 'y']]
                end_point = cluster_data_points[i].iloc[segment_index + 1][['x', 'y']]
                x, y = (1 - segment_progress) * start_point + segment_progress * end_point
                dot.set_data(x, y)
        elif frame < total_frames:
            # 移回起始位置
            start_x, start_y = cluster_data_points[i].iloc[0][['x', 'y']]
            dot.set_data(np.linspace(start_x, center_x, total_frames - move_back_start)[frame - move_back_start],
                         np.linspace(start_y, center_y, total_frames - move_back_start)[frame - move_back_start])
        else:
            # 保持在中心位置
            dot.set_data(center_x, center_y)
    return dots

模式二  一字队列遍历所有路径

def animate_mode2(frame, total_frames, move_back_start):
    frames_per_segment = 10  # 每个线段之间的帧数
    ax.plot(df['x'], df['y'], marker='o')

    if frame < 100:  # 平滑移动到第一个点
        start_x, start_y = df.iloc[0][['x', 'y']]
        # 计算移动过程中的中间点
        for i, dot in enumerate(dots):
            # 水平一字排列的初始 x 和 y 坐标
            initial_x = center_x + i * 2  # 可以调整 2 以改变小红点之间的间距
            initial_y = center_y
            # 计算每个小红点在移动到起始点过程中的位置
            dot_x = np.linspace(initial_x, start_x, 100)[frame]
            dot_y = np.linspace(initial_y, start_y, 100)[frame]
            dot.set_data(dot_x, dot_y)
    elif frame < move_back_start:
        # 遍历路径
        frame_adjusted = frame - 100
        segment_index = frame_adjusted // frames_per_segment
        segment_progress = frame_adjusted % frames_per_segment / frames_per_segment

        # 更新每个小红点的位置
        for i, dot in enumerate(dots):
            dot_index = segment_index - i
            if dot_index >= 0 and dot_index < len(df):
                start_point = df.iloc[dot_index][['x', 'y']]
                end_point = df.iloc[min(dot_index + 1, len(df) - 1)][['x', 'y']]
                x, y = (1 - segment_progress) * start_point + segment_progress * end_point
                dot.set_data(x, y)
    elif frame < total_frames:
        # 移回起始位置
        start_x, start_y = df.iloc[0][['x', 'y']]
        for dot in dots:
            dot.set_data(np.linspace(start_x, center_x, total_frames - move_back_start)[frame - move_back_start],
                         np.linspace(start_y, center_y, total_frames - move_back_start)[frame - move_back_start])
    else:
        # 保持在中心位置
        for dot in dots:
            dot.set_data(center_x, center_y)

    return dots

切换模式按钮及模式展现

# 创建单选按钮
ax_mode_selector = plt.axes([0.1, 0.05, 0.15, 0.15], facecolor='lightgoldenrodyellow')
radio_mode = widgets.RadioButtons(ax_mode_selector, ('Mode 1(Cluster)', 'Mode 2(Entirety)'))

def on_click(event):
    global animation, dots
    if animation is not None:
        animation.event_source.stop()

    # 清除图形
    ax.clear()
    dots = []
    for offset in triangle_offsets:
        dot, = ax.plot(center_x + offset[0], center_y + offset[1], 'ro')
        dots.append(dot)

    plt.title('UAV Search Simulation')

    # 获取当前选择的模式
    current_mode = 1 if radio_mode.value_selected == 'Mode 1(Cluster)' else 2

    if current_mode == 1:

        move_back_start = 100 + (max(len(cluster) for cluster in cluster_data_points) - 1) * 10
        total_frames = move_back_start + 100
        animation = FuncAnimation(fig, animate_mode1, fargs=(total_frames, move_back_start), frames=total_frames + 1,
                                  interval=10, blit=True)

    elif current_mode == 2:
        # 模式二的逻辑
        move_back_start = 100 + (len(df) - 1) * 10
        total_frames = move_back_start + 100
        animation = FuncAnimation(fig, animate_mode2, fargs=(total_frames, move_back_start), frames=total_frames + 1,
                                  interval=10, blit=True)
        plt.show()

    plt.show()

btn_run.on_clicked(on_click)

看看效果吧 

优化飞行器模拟

结语：本质与之前变化不大，主要是关于聚类算法的应用，需要完整代码，后台私信

欢迎大家有什么疑问或者建议评论区提出