matlab 遗传算法rep添加路径,采用matlab编写的遗传算法的机器人路径控制问题

研赛数学建模期间编写的程序拿出来分享下：

(纤细题目见2007年研究生数学建模竞赛试题B)

编码

function pop = bianma(popsize)

pop=4*(round(10*rand(popsize,5))/10)-2;

建立适应度函数

function f = fitness(pop,dian,ztjd)

popsize=size(pop,1);dian=dian';

f=zeros(1,popsize);

for i=1:popsize

ag1=pop(i,1)+ztjd(1);ag2=pop(i,2)+ztjd(2);ag3=pop(i,3)+ztjd(3);ag4=pop(i,4)+ztjd(4);ag5=pop(i,5)+ztjd(5);

ag1=ag1*pi/180;ag2=ag2*pi/180;ag3=ag3*pi/180;ag4=ag4*pi/180;ag5=ag5*pi/180;

T1=[cos(ag1),-sin(ag1),0,0;sin(ag1),cos(ag1),0,0;0,0,1,140;0,0,0,1];

T2=[1,0,0,0;0,cos(ag2),-sin(ag2),-255*sin(ag2);0,sin(ag2),cos(ag2),255*cos(ag2);0,0,0,1];

T3=[1,0,0,0;0,cos(ag3),-sin(ag3),0;0,sin(ag3),cos(ag3),0;0,0,0,1];

T4=[cos(ag4),-sin(ag4),0,0;sin(ag4),cos(ag4),0,0;0,0,1,255;0,0,0,1];

T5=[1,0,0,0;0,cos(ag5),-sin(ag5),0;0,sin(ag5),cos(ag5),0;0,0,0,1];

A=[0;0;0;1];

AE=[0;0;65;1];

TC=T1*T2*A;

TD=T1*T2*T3*T4*A;

TE=T1*T2*T3*T4*T5*AE;

x0=((180-TC(3))/(TD(3)-TC(3)))*(TD(1)-TC(1))+TC(1);

y0=((180-TC(3))/(TD(3)-TC(3)))*(TD(2)-TC(2))+TC(2);

r0=(x0-210)^2+y0^2;

r1=(TD(1)-210)^2+TD(2)^2;

R0=(88-5)^2;

R1=(160-72*TD(3)/180-5)^2;

if r0

> R0 || r1 > R1

f(i)=0;

elseif

(TE(1)-dian(1))^2+(TE(2)-dian(2))^2+(TE(3)-dian(3))^2 == 0

f(i)=1000000;

else

f(i)=1/((TE(1)-dian(1))^2+(TE(2)-dian(2))^2+(TE(3)-dian(3))^2);

end

end

选择

function [pop1,best,max_f] = selection(pop,f)

popsize = length(f);

[max_f,index1] = max(f);

[min_fitness,index2] = min(f);

best = pop(index1,:);

index = 1:popsize; index(index1) = 0; index(index2) = 0;

index = nonzeros(index);

pop1 = pop(index,:);

evo_fitness = f(index,:);

evo_popsize = popsize-2;

ps = evo_fitness/sum(evo_fitness);

pscum= cumsum(ps);

r = rand(1,evo_popsize);

selected = sum(pscum * ones(1,evo_popsize) <

ones(evo_popsize,1) * r)+1;

pop1 = pop1(selected,:);

max_f=sqrt(1/max_f);

交叉

function pop2 = crossover(pop1,pc)

[nouse,mating] = sort(rand(size(pop1,1),1));

mat_gen = pop1(mating,:);

pairs = size(mat_gen,1)/2;

bits = size(mat_gen,2);

cpairs = rand(pairs,1) < pc;

cpoints = randint(pairs,1,[1,bits]);

cpoints = cpairs .* cpoints;

for i = 1:pairs

pop2([2*i-1

2*i],:) = [mat_gen([2*i-1 2*i],1:cpoints(i)) mat_gen([2*i

2*i-1],cpoints(i)+1:bits)];

end

变异

function pop3=mutation(pop2,pm)

[px,py]=size(pop2);

pop3=ones(size(pop2));

for i=1:px

if

rand

mpoint=round(rand*py);

if mpoint == 0

mpoint=1;

end

pop3(i,:)=pop2(i,:);

pop3(i,mpoint)=4*(round(10*rand)/10)-2;

else

pop3(i,:)=pop2(i,:);

end

end

%主程序

%clear;clc;popsize=30;dai=100;pc=0.80;pm=0.1;

function [jg jl]=ycsf(popsize,dai,pc,pm);

%#ok

%上圆台中心及要求焊接的四个位置

x=[210 320,120,190,255];y=[0 -104,106,-125,88];

z=zeros(1,5);

for i=2:5

z(i)=(180/72)*(160-sqrt((x(i)-210)^2+y(i)^2));

end

z(1)=179.96;

aaa=[x;y;z];

[b index]=sort(aaa(3,:));

for i=1:5

aa(:,i)=aaa(:,index(i));

%#ok

end

a(:,1:5)=aa(:,5:-1:1);

clear aa aaa b i index x y z;

%离散化焊点到焊点线段成点

ins=1;jns=2;%上圆台中心到第一个焊点

zl=a(3,ins):-0.2:a(3,jns);

bb=length(zl);

for i=1:bb

xl(i)=((zl(i)-a(3,ins))/(a(3,jns)-a(3,ins)))*(a(1,jns)-a(1,ins))+a(1,ins);

%#ok

yl(i)=((zl(i)-a(3,ins))/(a(3,jns)-a(3,ins)))*(a(2,jns)-a(2,ins))+a(2,ins);

%#ok

end

xl(i+1)=a(1,jns);yl(i+1)=a(2,jns);zl(i+1)=a(3,jns);

xl(i+2)=a(1,jns);yl(i+2)=a(2,jns);zl(i+2)=a(3,jns);

p=[xl;yl;zl];

clear bb i ins jns xl yl zl;

%主程序

mm=length(p);

jg = zeros(dai,5,mm);

jl = zeros(dai,1,mm);

ztjd=zeros(mm,5);

ztjd(1,:) = [-90 -14 -130.4 -147.7 0];

for i=1:mm-1

dian=p(:,i+1);

pop =

bianma(popsize);%初始化

T=0;

while T

< dai

f = fitness(pop,dian,ztjd(i,:));%适应度函数

[pop1,best,max_f] = selection(pop,f);%选择

pop2 = crossover(pop1,pc);%交叉

pop3=mutation(pop2,pm);%变异

pop=[pop3;best;best];

T=T+1;

jg(T,:,i)=best;

jl(T,1,i)=max_f;

end

ins =

jg(dai,:,i);

ztjd(i+1,:)=ins; end