def __init__(self, Point_Matrix, ConstList, W_Matrix):
'''
function:初始化
para:1、Point_Matrix
'''
self.Point_Matrix = Point_Matrix #轨迹点列表
self.Crossover_rate = 0.7 #交叉率
self.Mutation_rate = 0.2 #变异率
self.ObjectNums = 3 #目标函数个数
self.PopulationNums = 11 #种群数量
self.Num_generations = 10 #进化代数
self.ConstList = ConstList #约束的列表
self.Point_List_Len = len(Point_Matrix[0]) #插值点列 长度
self.TargetPoint = [] #R支配目标点
self.RetPoint = [] #结果集
self.BSplineCurve_Population = [] #种群
self.RetBSplineCurve_Population = [] #每次进化出来的种群
self.Plt = []
self.TOPSIS = None #TOPSIS算法类
self.W_Matrix = W_Matrix #权重集
self.NSGA_II_With_Constraint = NSGA_II_With_Constraint(
self.ObjectNums, self.Mutation_rate, self.Crossover_rate)
self.NSGA_II_With_Constraint_And_R_Dominance = None
def __init__(self,Point_Matrix,ConstList,W_Matrix):
'''
function:初始化
para:1、Point_Matrix
'''
self.Point_Matrix = Point_Matrix #轨迹点列表
self.Crossover_rate = 0.7 #交叉率
self.Mutation_rate = 0.2 #变异率
self.ObjectNums = 3 #目标函数个数
self.PopulationNums = 11 #种群数量
self.Num_generations = 10 #进化代数
self.ConstList = ConstList #约束的列表
self.Point_List_Len = len(Point_Matrix[0]) #插值点列 长度
self.TargetPoint = [] #R支配目标点
self.RetPoint = [] #结果集
self.BSplineCurve_Population = [] #种群
self.RetBSplineCurve_Population = [] #每次进化出来的种群
self.Plt = []
self.TOPSIS = None #TOPSIS算法类
self.W_Matrix = W_Matrix #权重集
self.NSGA_II_With_Constraint = NSGA_II_With_Constraint(self.ObjectNums,self.Mutation_rate,self.Crossover_rate)
self.NSGA_II_With_Constraint_And_R_Dominance = None
class TrajectPlanning(object):
'''
轨迹规划类
'''
def __init__(self,Point_Matrix,ConstList,W_Matrix):
'''
function:初始化
para:1、Point_Matrix
'''
self.Point_Matrix = Point_Matrix #轨迹点列表
self.Crossover_rate = 0.7 #交叉率
self.Mutation_rate = 0.2 #变异率
self.ObjectNums = 3 #目标函数个数
self.PopulationNums = 11 #种群数量
self.Num_generations = 10 #进化代数
self.ConstList = ConstList #约束的列表
self.Point_List_Len = len(Point_Matrix[0]) #插值点列 长度
self.TargetPoint = [] #R支配目标点
self.RetPoint = [] #结果集
self.BSplineCurve_Population = [] #种群
self.RetBSplineCurve_Population = [] #每次进化出来的种群
self.Plt = []
self.TOPSIS = None #TOPSIS算法类
self.W_Matrix = W_Matrix #权重集
self.NSGA_II_With_Constraint = NSGA_II_With_Constraint(self.ObjectNums,self.Mutation_rate,self.Crossover_rate)
self.NSGA_II_With_Constraint_And_R_Dominance = None
def __Init_BSplineCurve_Population(self,Point_List_Len):
'''
function:初始化种群
para：1、Point_List_Len 插值点列 长度
'''
self.BSplineCurve_Population = [] #删除原有的种群
mInit_TPopluation = Init_TPopluation(Point_List_Len,self.PopulationNums) #随机时间间隔初始化
TList = mInit_TPopluation.T_Population()
for i in range(self.PopulationNums):
self.BSplineCurve_Population.append( Solution_Of_BSplineCurve7( self.ConstList, self.Point_Matrix[0],TList[i]) )
def GetFirstRet(self):
'''
function:对不采用R支配的插值进行 基于约束的非支配排序
'''
self.__Init_BSplineCurve_Population(self.Point_List_Len)
P_Ret = self.NSGA_II_With_Constraint.run(self.BSplineCurve_Population, self.PopulationNums,self.Num_generations)
self.TOPSIS = TOPSIS(P_Ret,self.W_Matrix)
self.RetPoint.append(self.TOPSIS.GetMax_Satisfaction_Target())
self.RetBSplineCurve_Population.append(P_Ret[:])
for e in self.RetPoint[0].objectives:
self.TargetPoint.append(e)
self.Plt.append( self.DrawFig(P_Ret,self.RetPoint[0],"%d_BSplineCurve" % 0) )
print "时间:"+str(self.TargetPoint[0])+", 平滑:"+str(self.TargetPoint[1])+", 能量:"+str(self.TargetPoint[2])+"\n"
def GetOtherRet(self):
'''
function:采用R支配求解剩余的轨迹
'''
for i in range(1,len( Point_Matrix )):
self.NSGA_II_With_Constraint_And_R_Dominance= NSGA_II_With_Constraint_And_R_Dominance(
self.ObjectNums,
self.Mutation_rate,
self.Crossover_rate,
TargetPoint=self.TargetPoint[:] )
self.__Init_BSplineCurve_Population(self.Point_List_Len)
P_Ret = self.NSGA_II_With_Constraint_And_R_Dominance.run(self.BSplineCurve_Population, self.PopulationNums,self.Num_generations)
self.TOPSIS = TOPSIS(P_Ret,self.W_Matrix)
self.RetPoint.append(self.TOPSIS.GetMax_Satisfaction_Target())
self.RetBSplineCurve_Population.append(P_Ret[:])
for j in range(len(self.TargetPoint)):
if self.RetPoint[i].objectives[j] < self.TargetPoint[j]:
self.TargetPoint[j] = self.RetPoint[i].objectives[j]
self.Plt.append( self.DrawFig(P_Ret,self.RetPoint[i],"%d_BSplineCurve" % i ))
print "时间:"+str(self.RetPoint[i].objectives[0])+", 平滑:"+str(self.RetPoint[i].objectives[1])+", 能量:"+str(self.RetPoint[i].objectives[2])+"\n"
def DrawFig(self,P,RetPoint,Title):
ListX= []
ListY= []
ListZ= []
for e in P:
ListX.append(e.objectives[0])
ListY.append(e.objectives[1])
ListZ.append(e.objectives[2])
DrawT_List = np.linspace(0, 1, 300)
NewList=[]
for t in DrawT_List:
NewList.append(RetPoint.objectives[0]*t)
plt.figure(figsize=(12,10))
p1 = plt.subplot(211)
p1.plot(RetPoint.TList,RetPoint.pointList,"b*",label="org_point",linewidth=5)
p1.plot(NewList,RetPoint.BSplineCurve.GetT_PList(DrawT_List),"b-",label="point",color="red",linewidth=2)
p1.plot(NewList,RetPoint.BSplineCurve.GetT_VList(DrawT_List),"b-",label="V",color="green",linewidth=2)
p1.plot(NewList,RetPoint.BSplineCurve.GetT_AList(DrawT_List),"b-",label="A",color="black",linewidth=2)
p1.plot(NewList,RetPoint.BSplineCurve.GetT_JList(DrawT_List),"b-",label="J",color="blue",linewidth=2)
p1.set_title(Title,fontsize=18)
p1.set_xlabel("Time(s)")
p1.set_ylabel("deg")
p1.set_ylim(-200,200)
p1.legend()
ax = plt.subplot(212,projection='3d')
ax.scatter(ListX, ListY, ListZ)
ax.set_xlabel('Time')
ax.set_ylabel('J')
ax.set_zlabel('E')
return plt
class TrajectPlanning(object):
'''
轨迹规划类
'''
def __init__(self, Point_Matrix, ConstList, W_Matrix):
'''
function:初始化
para:1、Point_Matrix
'''
self.Point_Matrix = Point_Matrix #轨迹点列表
self.Crossover_rate = 0.7 #交叉率
self.Mutation_rate = 0.2 #变异率
self.ObjectNums = 3 #目标函数个数
self.PopulationNums = 11 #种群数量
self.Num_generations = 10 #进化代数
self.ConstList = ConstList #约束的列表
self.Point_List_Len = len(Point_Matrix[0]) #插值点列 长度
self.TargetPoint = [] #R支配目标点
self.RetPoint = [] #结果集
self.BSplineCurve_Population = [] #种群
self.RetBSplineCurve_Population = [] #每次进化出来的种群
self.Plt = []
self.TOPSIS = None #TOPSIS算法类
self.W_Matrix = W_Matrix #权重集
self.NSGA_II_With_Constraint = NSGA_II_With_Constraint(
self.ObjectNums, self.Mutation_rate, self.Crossover_rate)
self.NSGA_II_With_Constraint_And_R_Dominance = None
def __Init_BSplineCurve_Population(self, Point_List_Len):
'''
function:初始化种群
para：1、Point_List_Len 插值点列 长度
'''
self.BSplineCurve_Population = [] #删除原有的种群
mInit_TPopluation = Init_TPopluation(Point_List_Len,
self.PopulationNums) #随机时间间隔初始化
TList = mInit_TPopluation.T_Population()
for i in range(self.PopulationNums):
self.BSplineCurve_Population.append(
Solution_Of_BSplineCurve7(self.ConstList, self.Point_Matrix[0],
TList[i]))
def GetFirstRet(self):
'''
function:对不采用R支配的插值进行 基于约束的非支配排序
'''
self.__Init_BSplineCurve_Population(self.Point_List_Len)
P_Ret = self.NSGA_II_With_Constraint.run(self.BSplineCurve_Population,
self.PopulationNums,
self.Num_generations)
self.TOPSIS = TOPSIS(P_Ret, self.W_Matrix)
self.RetPoint.append(self.TOPSIS.GetMax_Satisfaction_Target())
self.RetBSplineCurve_Population.append(P_Ret[:])
for e in self.RetPoint[0].objectives:
self.TargetPoint.append(e)
self.Plt.append(
self.DrawFig(P_Ret, self.RetPoint[0], "%d_BSplineCurve" % 0))
print "时间:" + str(self.TargetPoint[0]) + ", 平滑:" + str(
self.TargetPoint[1]) + ", 能量:" + str(self.TargetPoint[2]) + "\n"
def GetOtherRet(self):
'''
function:采用R支配求解剩余的轨迹
'''
for i in range(1, len(Point_Matrix)):
self.NSGA_II_With_Constraint_And_R_Dominance = NSGA_II_With_Constraint_And_R_Dominance(
self.ObjectNums,
self.Mutation_rate,
self.Crossover_rate,
TargetPoint=self.TargetPoint[:])
self.__Init_BSplineCurve_Population(self.Point_List_Len)
P_Ret = self.NSGA_II_With_Constraint_And_R_Dominance.run(
self.BSplineCurve_Population, self.PopulationNums,
self.Num_generations)
self.TOPSIS = TOPSIS(P_Ret, self.W_Matrix)
self.RetPoint.append(self.TOPSIS.GetMax_Satisfaction_Target())
self.RetBSplineCurve_Population.append(P_Ret[:])
for j in range(len(self.TargetPoint)):
if self.RetPoint[i].objectives[j] < self.TargetPoint[j]:
self.TargetPoint[j] = self.RetPoint[i].objectives[j]
self.Plt.append(
self.DrawFig(P_Ret, self.RetPoint[i], "%d_BSplineCurve" % i))
print "时间:" + str(self.RetPoint[i].objectives[0]) + ", 平滑:" + str(
self.RetPoint[i].objectives[1]) + ", 能量:" + str(
self.RetPoint[i].objectives[2]) + "\n"
def DrawFig(self, P, RetPoint, Title):
ListX = []
ListY = []
ListZ = []
for e in P:
ListX.append(e.objectives[0])
ListY.append(e.objectives[1])
ListZ.append(e.objectives[2])
DrawT_List = np.linspace(0, 1, 300)
NewList = []
for t in DrawT_List:
NewList.append(RetPoint.objectives[0] * t)
plt.figure(figsize=(12, 10))
p1 = plt.subplot(211)
p1.plot(RetPoint.TList,
RetPoint.pointList,
"b*",
label="org_point",
linewidth=5)
p1.plot(NewList,
RetPoint.BSplineCurve.GetT_PList(DrawT_List),
"b-",
label="point",
color="red",
linewidth=2)
p1.plot(NewList,
RetPoint.BSplineCurve.GetT_VList(DrawT_List),
"b-",
label="V",
color="green",
linewidth=2)
p1.plot(NewList,
RetPoint.BSplineCurve.GetT_AList(DrawT_List),
"b-",
label="A",
color="black",
linewidth=2)
p1.plot(NewList,
RetPoint.BSplineCurve.GetT_JList(DrawT_List),
"b-",
label="J",
color="blue",
linewidth=2)
p1.set_title(Title, fontsize=18)
p1.set_xlabel("Time(s)")
p1.set_ylabel("deg")
p1.set_ylim(-200, 200)
p1.legend()
ax = plt.subplot(212, projection='3d')
ax.scatter(ListX, ListY, ListZ)
ax.set_xlabel('Time')
ax.set_ylabel('J')
ax.set_zlabel('E')
return plt
