NU = np.zeros(int((T - t0) / h) + 1)
L = np.zeros(int((T - t0) / h) + 1)
D = np.zeros(int((T - t0) / h) + 1)
R = np.zeros(int((T - t0) / h) + 1)
Xtg = np.zeros((int((T - t0) / h) + 1,2))
U = np.zeros(int((T - t0) / h) + 1)
i = 0
for s in np.arange(t0, 1 + 1e-10,h / T):
Xtg[i] = target.Xp(s)
x = [x_plot[i], y_plot[i]]
NU[i] = target.nu(s, x)
D[i] = target.d(s, x)
L[i] = channel.l(x)
R[i] = channel.r(x)
U[i] = uav.u(s, x)
i = i + 1
ax1.scatter(Xbs[0],Xbs[1], marker = 'v', color = 'blue')
ax1.plot(Xtg[:,0],Xtg[:,1], marker = 'x', color = 'red')
ax1.scatter(XT[0],XT[1], marker = 'x', color = 'green')
ax1.plot(X[:,0],X[:,1], color = 'blue', linewidth = 2.0, alpha = 0.3)
ax1.plot(x_plot, y_plot, color = 'red')
ax1.set_aspect('equal')
ax2.plot(t, NU, color = 'blue', label = 'surv quality')
ax2.plot(t, L, color = 'green', label = 'transfer quality')
ax2.legend()
ax3.plot(t, D, color = 'blue', label = 'target dist')
r0 = 7.0
d0 = 3.5
kappa = 0.05
epsilon = 0.05
V0 = 0.5
h = 0.1
t0 = 0
T = 60
target = Target(Xtg, d0)
channel = Channel(Xbs, r0)
uav = UAV(V0, X0, h)
uav.setmission(target, channel, kappa)
print(uav.u([0,0]))
X = np.zeros((int((T-t0)/h)+1,2))
t = np.zeros(int((T-t0)/h)+1)
u = np.zeros(int((T-t0)/h)+1)
gamma = -np.pi/2
i = 0
for s in np.arange(t0, T+h, h):
gamma = gamma + 0.01
t[i] = s
x = uav.step(gamma)
u[i] = uav.u(x)
X[i] = x
i = i + 1
