def __init__(self, size=[1000, 1000], pitch=1, n_ants=5):
""" ==================
Do a simulation of an Ant
================== """
self.size = size
self.pitch = pitch
self.Dom = AntDomain(size,
pitch,
food={
'location': [850, 500],
'radius': 50
},
nest={
'location': [150, 500],
'radius': 50
})
self.Dom.set_gaussian(sigma=10)
self.Ant = Ant(
limits=size,
start_pos=[700, 500],
speed=5,
)
self.Ants = [
Ant(limits=size,
start_pos=1000 * np.random.rand(1, 2)[0],
angle=360 * np.random.rand(),
speed=2,
v_max=5,
ant_id=i) for i in range(n_ants)
]
self.Plot = MapPlot(self.Dom.Map.X, self.Dom.Map.Y)
def run(self):
'''
Function to run the rank based Ant Colony Optimization algorithm
'''
best_ant = Ant(0, 0)
for i in range(self.n_iterations):
print("Iteration: %d Best OF: %f" % (i, best_ant.of()))
colony = []
for j in range(self.n_ants):
ant = Ant(np.random.randint(self.distances.shape[0]),
self.distances.shape[0])
ant.build_path(self.distances, self.pheromone, self.alpha,
self.beta)
ant.calculate_distance(self.distances)
ant.objectve_function(self.distance_cost)
colony.append(ant)
n_bests_ants = self.find_n_bests_ants(colony)
if n_bests_ants[0].of() < best_ant.of():
best_ant = n_bests_ants[0]
self.update_pheromone(best_ant, n_bests_ants)
print(self.pheromone)
return best_ant
def create_children(breeders, env, number_of_child, ants_energy, food_value):
# creates children using genes from to selected ants
nextColony = []
breeders_indexes = np.arange(len(breeders))
breeders_indexes_shuffled = np.arange(len(breeders))
np.random.shuffle(breeders_indexes_shuffled)
for i in range(len(breeders) / 2):
# first round of childrean, each pair of randomly selected parents create one of them
# each parent can be selected only once
first_parent_id = breeders_indexes_shuffled[i]
second_parent_id = breeders_indexes_shuffled[
len(breeders_indexes_shuffled) - i - 1]
brain = select_genes(breeders[first_parent_id],
breeders[second_parent_id])
nextColony.append(
Ant(env,
energy=ants_energy,
food_value=food_value,
genetic_inh=brain,
child=1))
for j in range(number_of_child - (len(breeders) / 2)):
# if we need more children, we are going to use again some of the old parents
random_parent = random.choice(breeders_indexes)
brain = select_genes(breeders[random_parent],
breeders[len(breeders) - random_parent - 1])
nextColony.append(
Ant(env,
energy=ants_energy,
food_value=food_value,
genetic_inh=brain,
child=1))
return nextColony
def run(self):
'''
Function to run the rank based Ant Colony Optimization algorithm
'''
best_ant = Ant(0, 0, [])
for i in range(self._n_iterations):
colony = []
for j in range(self._n_ants):
ant = Ant(0, self._distances.shape[0],
copy.deepcopy(self._vehicles))
for x in range(len(ant.vehicles)):
ant.vehicles[x].put_node_path(0, self._occupancies,
self._distances, self._times)
ant.build_path(self._distances, self._times, self._occupancies,
self._pheromone, self._alpha, self._beta)
ant.calculate_distance(self._distances)
ant.objectve_function(self._distance_cost)
colony.append(ant)
n_bests_ants = self.find_n_bests_ants(colony)
if n_bests_ants[0].of_value < best_ant.of_value:
best_ant = n_bests_ants[0]
self.update_pheromone(best_ant, n_bests_ants)
#print("Iteration: %d Best OF: %f" %(i + 1, best_ant.of_value))
return best_ant
def part2(instructions):
ship = Ant(0, 0, 90)
waypoint = Ant(10, 1)
for ins in instructions:
i, value = ins[0], int(ins[1:])
if i == "F":
x, y = waypoint.pos()
ship.x += value * x
ship.y += value * y
elif i == "N":
waypoint.north(value)
elif i == "S":
waypoint.south(value)
elif i == "E":
waypoint.east(value)
elif i == "W":
waypoint.west(value)
elif i in "LR":
dist = waypoint.dist()
angle = waypoint.angle()
waypoint.x = 0
waypoint.y = 0
if i == "L":
waypoint.heading = angle + value
else:
waypoint.heading = angle - value
waypoint.forward(dist)
return manhattan_distance((0, 0), ship.pos())
def test_valid_color():
num_nodes = 6
delta_mat = [[0,1,1,1,1,1],[1,0,1,1,1,1],[1,1,0,1,1,1],[1,1,1,0,1,1],[1,1,1,1,0,1],[1,1,1,1,1,0]]
num_ants = 1
num_iterations = 10
colors1 = "RRRRRR"
colors2 = "RRRBBB"
colors3 = "BBBBBB"
graph1 = AntGraph(num_nodes,delta_mat,colors1)
colony1 = AntColony(graph1,num_ants,num_iterations)
ant1 = Ant(1, 1, colony1)
ant1.last_3_colors = ("R","R","R")
print "False: " + str(ant1.valid_color(1))
ant1.last_3_colors = ("B","B","B")
print "True: " + str(ant1.valid_color(1))
ant1.last_3_colors = ("R","R","B")
print "True: " + str(ant1.valid_color(1))
graph2 = AntGraph(num_nodes,delta_mat,colors2)
colony2 = AntColony(graph2,num_ants,num_iterations)
ant2 = Ant(1, 1, colony2)
ant2.last_3_colors = ("R","R","R")
print "True: " + str(ant2.valid_color(3))
print "False: " + str(ant2.valid_color(1))
graph3 = AntGraph(num_nodes,delta_mat,colors3)
colony3 = AntColony(graph3,num_ants,num_iterations)
ant3 = Ant(1, 1, colony3)
ant3.last_3_colors = ("R","R","R")
print "True: " + str(ant3.valid_color(1))
ant3.last_3_colors = ("B","B","B")
print "False: " + str(ant3.valid_color(1))
ant3.last_3_colors = ("B","R","B")
print "True: " + str(ant3.valid_color(1))
def __init__(self, data, alpha=0.2, label=None, mask=None, option=None):
self.mask = mask
self.option = option
self.al = alpha
self.nest_counter = 1
if label is None:
self.ants = set([Ant(datum) for datum in data.tolist()])
else:
self.ants = set([
Ant(datum, true_label=label[i])
for i, datum in enumerate(data.tolist())
])
def populate_world(self):
first_ant = Ant(world=self,
n_nodes=self.n_nodes,
alpha=self.alpha,
beta=self.beta)
ant = first_ant
for i in range(self.n_ants - 1):
ant.next = Ant(world=self,
n_nodes=self.n_nodes,
alpha=self.alpha,
beta=self.beta)
ant = ant.next
self.first_ant = first_ant
def __init__(self, parameters, instance):
self.instance = instance
self.ants = [Ant(instance) for i in range(parameters.n_ants)]
self.best_so_far_ant = Ant(instance)
self.restart_best_ant = Ant(instance)
self.prob_of_selection = [0 for i in range(parameters.nn_ants + 1)]
# Ensure that we do not run over the last element in the random wheel.
self.prob_of_selection[parameters.nn_ants] = math.inf
self.pheromone = [[None for i in range(instance.n)]
for i in range(instance.n)]
self.total = [[None for i in range(instance.n)]
for i in range(instance.n)]
self.nn_tour = None
self.compute_nn_tour()
def run():
"""====================
test some things
=================="""
D = AntDomain([1000, 1000], pitch=1)
D.set_gaussian(sigma=25)
P = MapPlot(D.Map.X, D.Map.Y, 'blue')
A = Ant(start_pos=[500, 500],
limits=[1000, 1000],
speed=10,
angle=360 * np.random.rand())
i = 0
for loc in 300 + np.random.rand(100, 2) * 600:
i += 1
tic = time.time()
D.local_add_pheromone(loc=loc, Q=1e3)
D.update_pheromone()
# P.draw_contour(D.Map.map)
if i % 5 == 0 or i == 1:
P.draw_contour(D.Map.map)
A.random_step(sigma=10)
P.draw_scatter(A.pos.x, A.pos.y, color='k')
print("Iteration {i} in {s:.4f} msec".format(i=i,
s=(time.time() - tic) *
1e3))
P.hold_until_close()
def __init__(self,
emptyNodes,
foodSources,
antHills,
pheromoneStrength=1,
baseEdgeWeight=1,
pheromoneDecayRate=0.01):
super(FoodTravelGraph, self).__init__()
self.ants = []
self.frames = []
self.baseEdgeWeight = baseEdgeWeight
self.emptyNodes = emptyNodes
self.foodSources = foodSources
self.antHills = antHills
self.pheromoneStrength = pheromoneStrength
self.baseEdgeWeight = baseEdgeWeight
self.pheromoneDecayRate = pheromoneDecayRate
for node in emptyNodes:
self.add_node(node, pos=emptyNodes[node], isFood=False)
for node in foodSources:
self.add_node(node, pos=foodSources[node], isFood=True)
for node in antHills:
self.add_node(node,
pos=antHills[node]["pos"],
ants=antHills[node]["ants"],
isFood=False)
for ant in range(antHills[node]["ants"]):
self.ants.append(
Ant(home=node,
pos=node,
pheromoneStrength=pheromoneStrength))
# create ant
for hill in antHills:
for node in emptyNodes:
# add edge between this ant hill and this empty node
self.add_edge(hill,
node,
pheromones=0,
length=dist(antHills[hill]["pos"],
emptyNodes[node]))
# add edges between this empty node and all food nodes
for food in foodSources:
self.add_edge(node,
food,
pheromones=0,
length=dist(foodSources[food],
emptyNodes[node]))
# add edges between this empty node and all other empty nodes
for node2 in emptyNodes:
self.add_edge(node,
node2,
pheromones=0,
length=dist(emptyNodes[node2],
emptyNodes[node]))
def __init__(self):
self.area = Area()
self.ant_num = 20
self.ant_list = []
self.add_number = 0
for i in range(self.ant_num):
self.ant_list.append(Ant(self.area.area))
def test_ant_do_turn():
ant = Ant(1, 1)
assert ant.orientation == Orientation.UP
ant.turn(TurnDirection.LEFT)
assert ant.orientation == Orientation.LEFT
ant.turn(TurnDirection.LEFT)
assert ant.orientation == Orientation.DOWN
def setup(self):
if settings.DRAW_BASE:
self.create_base()
for _ in range(settings.NUM_WALLS):
self.create_wall()
for _ in range(settings.NUM_FOOD_BLOBS):
self.create_food_blob(settings.FOOD_BLOB_SIZE)
self.colony = Colony()
for _ in range(settings.NUM_ANTS):
ant = Ant(settings.SCREEN_WIDTH / 2,
0,
self,
self.colony,
scale=settings.SCALE)
self.ant_list.append(ant)
arcade.set_background_color(settings.FIELD_COLOR)
if self.generation_callback:
self.generation_callback(self.generation, self)
def __init__(self,
graph,
num_ants,
alpha=1.0,
beta=5.0,
iterations=10,
evaporation=0.5):
self.graph = graph
self.locationsLength = len(graph.locations)
self.num_ants = num_ants
self.alpha = alpha # importância do feromônio
self.beta = beta # importância da informação heurística
self.iterations = iterations # quantidade de iterações
self.evaporation = evaporation # taxa de evaporação
self.ants = [] # lista de ants
locations = self.graph.getLocationsList()
# cria as ants colocando cada uma em uma location diferente
for _ in range(self.num_ants):
location_ant = random.choice(locations)
locations.remove(location_ant)
self.ants.append(Ant(location=location_ant))
if not locations:
locations = [
location for location in range(1, self.locationsLength + 1)
]
# reestrutura location como set
locations = self.graph.locations
for key_edge in self.graph.edges:
# pheromone = 1.0 / (self.locationsLength * cost)
self.graph.setPheromoneEdge(key_edge[0], key_edge[1], 0.1)
def ant_colony_opt(matrix, n_ants=10, max_iterations=23000):
best_pheromone_matrix = np.ones(shape=(9, 9, 9)) / 9
ants = [Ant(matrix.copy(), best_pheromone_matrix) for _ in range(n_ants)]
print(ants[0].fitness())
best_fitness = float('inf')
best_ant = None
history = []
for _ in tqdm(range(max_iterations)):
for i, ant in enumerate(ants):
ant.solve_sudoku(epsilon_greedy=0.05)
fitness = ant.fitness()
if fitness < best_fitness:
best_ant = copy.deepcopy(ant)
best_fitness = fitness
tqdm.write(str(best_fitness))
for i in range(9):
for j in range(9):
best_pheromone_matrix[i][j][best_ant.current_solution[i, j] -
1] += 0.0005
best_pheromone_matrix[i][j] /= np.sum(
best_pheromone_matrix[i][j])
history.append(best_fitness)
if best_fitness == 0:
# We found the solution, just stop
break
return best_ant.current_solution, history
def update(self, data):
map(lambda tile, pheromones: tile.update(**pheromones), self.tiles,
data['board'])
for tile in self.tiles:
rect, color = tile.render()
pygame.draw.rect(self.screen, color, rect)
for ant_repr in data['ants']:
if ant_repr['id'] in self.ants:
ant = self.ants[ant_repr['id']]
ant.position = ant_repr['position']
else:
ant = Ant(**ant_repr)
self.ants[ant_repr['id']] = ant
pos = map(lambda coord: coord * TILE_SIZE + TILE_SIZE / 2,
ant.position)
ant_color = YELLOW if ant.carries_food else GREEN
pygame.draw.circle(self.screen, ant_color, pos, TILE_SIZE / 5)
# Place colony
pygame.draw.rect(self.screen, GREEN, self.colony)
# Place food
food_pos = self.food['position']
pile = [[
food_pos[0] * TILE_SIZE + TILE_SIZE / 2, food_pos[1] * TILE_SIZE
], [food_pos[0] * TILE_SIZE, (food_pos[1] + 1) * TILE_SIZE],
[(food_pos[0] + 1) * TILE_SIZE, (food_pos[1] + 1) * TILE_SIZE]]
pygame.draw.polygon(self.screen, YELLOW, pile)
pygame.display.flip()
def step(self):
if not self.ant.settled:
try:
self.ant.move()
except Error as e:
raise e
else:
if self.ant.y > self.maxHeight:
self.maxHeight = self.ant.y
if self.checkBridge():
return False
self.addJoints(self.ant)
self.antId = self.antId + 1
self.numAnts += 1
if G.DeterministicAnts:
self.ant = Pyramid(self.antId)
self.oldy = self.y
self.y = self.ant.y
if self.y != self.oldy:
Physics.resetPhysics()
Physics.checkPhysics()
else:
self.ant = Ant(self.antId)
Physics.resetPhysics()
Physics.checkPhysics()
self.updateShaking()
return True
def main(commands: dict, ordered_colours: list):
"""
The main function responsible for running and simulating the ant's movements
"""
ant = Ant(commands, ordered_colours)
board = Board(ant)
run = True
clock = pygame.time.Clock()
rows, cols = ROWS, COLS
while run:
clock.tick(FPS)
for event in pygame.event.get():
if event.type == pygame.QUIT:
pygame.quit()
exit()
board.draw_board(rows, cols, WIN)
board.draw_ant(rows, WIN)
board.update_ant_dir()
board.update_ant_pos()
if board.check_edge():
rows, cols = (rows * 3), (cols * 3)
board.increase_board()
pygame.display.update()
def perform_tours(self, instance):
"""
Initialises ants within colony and makes the ants perform their tours around the tsp instance
"""
# Create n ants with each one starting on a random node where n is the amount of nodes
node_range = len(instance.nodes) - 1
self.ants = [
Ant(instance, random.randint(0, node_range))
for _ in range(node_range)
]
# Make each ant perform a tour around the instance
for ant in self.ants:
ant.perform_tour(instance)
# Update pheromones locally
self.local_update_pheromones(instance, ant.nodes_traversed())
distance = ant.get_distance(instance)
# Initialise the minimum distance as infinity if None
if not (self.min_distance):
self.min_distance = float('inf')
# Update the colonys minimum distance and shortest path if the ant has found a shorter distance
if self.min_distance > distance:
self.min_distance = distance
self.shortest_path = ant.path[:]
def Start_find_food(self):
# while True:
ant_x_list = []
ant_y_list = []
dispatch = False
mydispatch = False
direction = 0
if self.add_number > 0:
self.ant_list.append(Ant(self.area.area))
self.add_number = self.add_number - 1
self.ant_num = self.ant_num + 1
for i in range(self.ant_num):
dispatch = self.ant_list[i].walking()
if len(self.ant_list[i].previous_location_list) > 2000:
self.ant_list[i].previous_location_lis = []
if dispatch == True:
mydispatch = True
ant_x_list.append(self.ant_list[i].location[0])
ant_y_list.append(self.ant_list[i].location[1])
# if self.ant_list[i].direction_x==self.ant_list[i].driection_y and self.ant_list[i].direction_x:
# direction=direction+1
# print(direction)
pass
print(len(self.ant_list[19].previous_location_list))
if mydispatch == True:
if self.ant_num < 50:
self.add_number = 5
return ant_x_list, ant_y_list
def epoch(self, pheromoneMatrix):
population = []
for i in range(self.__noAnts):
ant = Ant(self.__problem)
population.append(ant)
for i in range(self.__problem.getNumberOfTasks() - 1):
for ant in population:
ant.update(pheromoneMatrix, self.__alpha, self.__beta,
self.__q0)
t = [1.0 / population[i].fitness() for i in range(len(population))]
for i in range(self.__problem.getNumberOfComputers()):
for j in range(self.__problem.getNumberOfTasks()):
pheromoneMatrix[i][j] = (1 -
self.__rho) * pheromoneMatrix[i][j]
for i in range(len(population)):
for j in range(len(population[i].getPath()) - 1):
x = population[i].getPath()[j]
y = population[i].getPath()[j + 1]
pheromoneMatrix[x][y] = pheromoneMatrix[x][y] + t[i]
fitness = [[population[i].fitness(), i]
for i in range(len(population))]
fitness = min(fitness)
return population[fitness[1]]
def search(self, n):
"""Includes row construction and pheromone update of all ants in a single search
iteration."""
points_i = [random.randint(0, len(self.points) - 1) for _ in range(n)]
ants = []
for i in points_i:
config = self.config['ant']
ant = Ant(self.points, i, self.orig_kd_tree, self.points_orig_i, config)
ants.append(ant)
for ant in ants:
ant.construct_solution(self.kd_tree, self.pheromone_matrix,
self.min_max_dist, self.min_max_angle)
mm_dist = self.update_min_max(ant.candidate_dists, self.min_max_dist, self.n)
mm_angle = self.update_min_max(ant.candidate_angles, self.min_max_angle, self.n)
if mm_dist: self.min_max_dist = mm_dist
if mm_angle: self.min_max_angle = mm_angle
self.n += 1
for key, pher_value in self.pheromone_matrix.items():
self.pheromone_matrix[key] = min(self.MIN_PHER, self.EVAP_RATE * pher_value)
for ant in ants:
ant.pheromone_update(self.pheromone_matrix, min_periods=1, center=True,
window=self.WINDOW, win_type=self.WIN_TYPE)
return ants
def create_ants(self):
self.reset()
ants = []
for i in range(0, self.num_ants):
ant = Ant(i, random.randint(0, self.graph.num_nodes - 1), self)
ants.append(ant)
return ants
def reconnaissance(self, iterations=1):
maze = self.maze
if self.do_reconnaissance < 1:
return maze
print 'performing reconnaissance with %d ants for %d steps in %d iterations' % (
self.ant_count, self.do_reconnaissance, iterations)
disabled = set()
start_time = time.time()
for iteration in range(iterations):
ants = []
for i in range(self.ant_count):
ants.append(Ant(maze, maze.start))
results = self.pool.map_async(
ant_loop_apply,
itertools.izip(ants, [self.do_reconnaissance] *
self.ant_count)).get(999999)
for ant in results:
for disable in ant.disable_positions:
maze.disable_at(disable)
disabled.add(disable)
print 'Reconnaissance done, %d cells disabled in %0.2fs' % (
len(disabled), time.time() - start_time)
return maze
def thread_body(queue):
pixels = NeoPixel(DATA_PIN, N_PIXELS, brightness=BRIGHTNESS,
auto_write=False)
updates = {'RAINBOW': Rainbow(pixels),
'ANT': Ant(pixels),
'OCD': Ocd(pixels),
'FLASH': Flash(pixels),
'IMPLODE': Implode(pixels),
'ERROR': Error(pixels),
'QUIT': Quit(pixels)}
assert set(updates.keys()) == MODES
mode = "OCD"
while True:
try:
new_mode = queue.get_nowait()
assert new_mode in MODES, "unknown mode %s" % mode
if new_mode != mode:
updates[new_mode].setup()
mode = new_mode
except:
pass
sleep = updates[mode].exec_update()
if mode == "QUIT":
break
time.sleep(sleep)
def __init__(self):
with open('meetlog.csv', 'w+') as x:
pass
with open('creation.csv', 'w+') as f:
pass
with open('changelog.csv', 'w+') as f:
pass
with open('ant_data.csv', 'w+') as f:
pass
self.index = {
"worker": 0,
"harvester": 0,
"soldier": 0,
"caretaker": 0
}
self.array = []
for i in range(100):
types = ['worker', 'harvester', 'soldier', 'caretaker']
choice_of_ant = random.randint(0, 3)
newAnt = Ant(types[choice_of_ant])
with open('creation.csv', 'a') as f:
f.write(f'{newAnt.role} \n')
self.array.append(newAnt)
self.index[newAnt.role] += 1
print(self.index)
def ant_algorithm(self):
for i in range(self.max_iter):
ants = list(Ant(self.graph) for j in range(self.ants_num))
for k in range(self.ants_num):
while not len(ants[k].att_to_visit) == 0:
next_index = self.select_next_attraction(ants[k])
if not ants[k].check_condition(next_index):
next_index = self.select_next_attraction(ants[k])
if not ants[k].check_condition(next_index):
next_index = 0
ants[k].visit_attraction(next_index)
ants[k].visit_attraction(0)
paths_distance = np.array(
[ant.total_travel_distance for ant in ants])
best_index = np.argmin(paths_distance)
if self.best_path is None or paths_distance[
best_index] < self.best_path_distance:
self.best_path = ants[int(best_index)].travel_path
self.best_path_distance = paths_distance[best_index]
self.best_vehicle_num = self.best_path.count(0) - 1
self.graph.update_pheromones(self.best_path,
self.best_path_distance)
print('Iteration ' + str(i))
print('Best path distance is ' +
str(round(self.best_path_distance, 3)) +
', number of vehicle is ' + str(self.best_vehicle_num))
def create_new_ant():
sensing_area = random.randint(1, 10)
p_repeat = random.random()
p_target = random.random()
p_pheromone = random.random()
new_ant = Ant(sensing_area, p_repeat, p_target, p_pheromone, get_id = get_ant_id)
return new_ant
def reset():
global grid, ant
grid.delete()
del grid
del ant
grid = Grid([5, 5], rules, batch, window, scale=25)
ant = Ant(2, 2, grid)
