matlab中machase,Sim_DogChaseFox.m

%% dog_chase_fox

% Script by adqeor @XJTU

% 狗追狐狸的仿真和可视化.

% 1. 狐狸在圆周匀速率运动, 狗从中心出发追击;

% 2. 狐狸直线逃跑, 狗垂直出发追击;

% 3. 狐狸避开狗逃跑, 但可惜眼神不太好;

%

% 类似的仿真问题, 可以列解微分方程, 数值/符号求解后可视化;

% 也可直接仿真.

%

% History:

% [rev0.1.3] 7 Feb. 2021:

% 增加狐狸两种运动模式;

% 调整代码: 向量化, 文档格式, 缩进, 变量命名;

% 移除了在 VCA.m 中重复的动态线绘制方法教程;

% 增加排错模式, 观察参数不匹配时的情况;

% [rev0.1.2] 1 Feb. 2021:

% 建立了文档;

% 6 Sept. 2020:

% Last known modification timestamp. 更改了绘图方法

% 更久之前:

% 实现了效果

%% 1. 狐狸在圆周匀速率运动, 狗从中心出发追击;

clc;

clear variables;

close all;

t = 0;

t_step = 20e-3;

d_limit = 200e-3;

radius = 10;

omega = 2;

velocity = 30;

%%%

% 注意参数取值的搭配:

% 如果狗的追击速度过快, 将会发生过冲乃至震荡, 围着狐狸左右横跳, 或是追而不击(其实是跑过了)

% 这些参数同时还要和仿真时间步进 t_step 和 d_limit 匹配. 仿真精度, 速度, 准确性(避免震荡), 自行权衡.

% 使能 DEBUG_MODE 可以在控制台打印距离 d, 以 d 是否单调下降辅助判断震荡; 也有助于选择 d_limit 取值.

% 后面小节不再重复此说明.

% 典型的震荡取值为: r=5,omeg=1,v=400, dt=1e-3,d=1e-3

DEBUG_MODE = true;

if DEBUG_MODE, format compact, format shortEng, end

% initial position

fox = [radius, 0];

dog = [0, 0];

% drawing properties setup

title('Fox and Dog: Wild Chase');

hold on;

axis equal;

h_fox = animatedline('Color', 'b', 'LineWidth', 2);

h_dog = animatedline('Color', 'r', 'LineStyle', '--');

legend({'fox', 'dog'}, 'Location','northwest', 'FontSize',12);

legend('boxoff');

d = norm(fox - dog);

% 求 fox - dog 向量的 2-范数, 即欧几里得距离

% also try: dist

while d > d_limit

fox = radius*[cos(omega*t), sin(omega*t)];

dog = dog + (fox-dog)*(velocity*t_step/d);

addpoints(h_fox, fox(1), fox(2));

addpoints(h_dog, dog(1), dog(2));

drawnow;

d = norm(fox - dog);

t = t + t_step;

if DEBUG_MODE,disp(d),end

end

fprintf('Terminated after %.3f seconds, caught successully.\n', t);

clear variables;

%% 2. 狐狸直线逃跑, 狗垂直出发追击;

clc;

clear variables;

close all;

t = 0;

t_step = 20e-3;

d_limit = 200e-3;

D = 10;

v_fox = 20;

v_dog = 40;

DEBUG_MODE = true;

if DEBUG_MODE, format compact, format shortEng, end

% initial position

fox = [D, 0];

dog = [0, 0];

% drawing properties setup

title('Fox and Dog: Wild Chase');

hold on;

axis equal;

h_fox = animatedline('Color', 'b', 'LineWidth', 2);

h_dog = animatedline('Color', 'r', 'LineStyle', '--');

legend({'fox', 'dog'}, 'Location','northwest', 'FontSize',12);

legend('boxoff');

d = norm(fox - dog);

while d > d_limit

fox = [D, v_fox * t]; % 或是 fox(2) = fox(2) + t_step * v_fox;

dog = dog + (fox-dog)*(v_dog*t_step/d);

addpoints(h_fox, fox(1), fox(2));

addpoints(h_dog, dog(1), dog(2));

drawnow;

d = norm(fox - dog);

t = t + t_step;

if DEBUG_MODE,disp(d),end

end

fprintf('Terminated after %.3f seconds, caught successully.\n', t);

clear variables;

%% 3. 狐狸避开狗逃跑, 但可惜眼神不太好;

clc;

clear variables;

close all;

t = 0;

t_step = 10e-3;

d_limit = 100e-3;

D = 10;

D_alarm = 2;

v_fox_relax = 1;

v_fox = 2;

v_dog = 4;

DEBUG_MODE = true;

if DEBUG_MODE, format compact, format shortEng, end

% initial position

fox = [D, D];

dog = [0, 0];

% drawing properties setup

title('Fox and Dog: Wild Chase');

hold on;

axis equal;

h_fox = animatedline();

h_dog = animatedline('LineStyle', ':', 'LineWidth', 2);

legend({'fox', 'dog'}, 'Location','northwest', 'FontSize',12);

legend('boxoff');

d = norm(fox - dog);

while d > d_limit

if d > D_alarm

% % 狗还很远, 看不到, 很悠闲的跑

% fox(2) = fox(2) - v_fox_relax*t_step;

% % 或是做随机漫步

fox_dir = randn(1, 2); fox_dir = fox_dir / norm(fox_dir); % 速度方向矢量归一化

fox = fox + fox_dir * (v_fox*t_step);

else

fox = fox - (dog-fox)*(v_fox*t_step/d); % 在 D_alarm 范围内, 避开狗全力跑

end

dog = dog + (fox-dog)*(v_dog*t_step/d); % 注意和狐狸式子的对偶性

addpoints(h_fox, fox(1), fox(2));

addpoints(h_dog, dog(1), dog(2));

drawnow;

d = norm(fox - dog);

t = t + t_step;

if DEBUG_MODE,disp(d),end

end

fprintf('Terminated after %.3f seconds, caught successully.\n', t);

clear variables;

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