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% Copyright (c) 2015, Yarpiz (www.yarpiz.com)
% All rights reserved. Please read the "license.txt" for license terms.
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% Project Code: YPAP115
% Project Title: Path Planning using PSO in MATLAB
% Publisher: Yarpiz (www.yarpiz.com)
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% Developer: S. Mostapha Kalami Heris (Member of Yarpiz Team)
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% Contact Info: sm.kalami@gmail.com, info@yarpiz.com
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clc;
clear;
close all;
%% Problem Definition
model=CreateModel();
model.n=3; % number of Handle Points
CostFunction=@(x) MyCost(x,model); % Cost Function
nVar=model.n; % Number of Decision Variables
VarSize=[1 nVar]; % Size of Decision Variables Matrix
VarMin.x=model.xmin; % Lower Bound of Variables
VarMax.x=model.xmax; % Upper Bound of Variables
VarMin.y=model.ymin; % Lower Bound of Variables
VarMax.y=model.ymax; % Upper Bound of Variables
%% PSO Parameters
MaxIt=500; % Maximum Number of Iterations
nPop=150; % Population Size (Swarm Size)
w=1; % Inertia Weight
wdamp=0.98; % Inertia Weight Damping Ratio
c1&