matlab - 蚁群算法 - 机器人路径优化问题(4)

plotif2=0;%绘各代蚂蚁爬行图 if plotif2==1 figure(3)

axis([0,MM,0,MM]) for i=1:MM for j=1:MM if G(i,j)==1

x1=j-1;y1=MM-i; x2=j;y2=MM-i; x3=j;y3=MM-i+1; x4=j-1;y4=MM-i+1;

fill([x1,x2,x3,x4],[y1,y2,y3,y4],[0.2,0.2,0.2]); hold on else

x1=j-1;y1=MM-i; x2=j;y2=MM-i; x3=j;y3=MM-i+1; x4=j-1;y4=MM-i+1;

fill([x1,x2,x3,x4],[y1,y2,y3,y4],[1,1,1]); hold on end end end

for k=1:K PLK=PL(k,:);

minPLK=min(PLK);

pos=find(PLK==minPLK); m=pos(1);

ROUT=ROUTES{k,m}; LENROUT=length(ROUT); Rx=ROUT; Ry=ROUT;

for ii=1:LENROUT

Rx(ii)=a*(mod(ROUT(ii),MM)-0.5); if Rx(ii)==-0.5 Rx(ii)=MM-0.5; end

Ry(ii)=a*(MM+0.5-ceil(ROUT(ii)/MM)); end

plot(Rx,Ry) hold on end end

function D=G2D(G) l=size(G,1); D=zeros(l*l,l*l); for i=1:l

for j=1:l

if G(i,j)==0 for m=1:l for n=1:l

if G(m,n)==0

im=abs(i-m);jn=abs(j-n);

if im+jn==1||(im==1&&jn==1) D((i-1)*l+j,(m-1)*l+n)=(im+jn)^0.5; end end end end end end end