class QuantumUCTControl(OperateInterface):
'''this is the quantum UCT algo'''
#self.partner_preference = PartnerPreference(base, plane_sight, D_max, region_size)
def __init__(self,
CP=0.5,
max_trajectory=200,
max_depth=8,
reward_gather=2,
reward_find=0.5,
reward_endangerous=-0.1,
reward_lost_plane=-1,
reward_intruder_life_plus=-0.1,
show_info=False,
gama=0.9):
self.CP = CP #CP is used to adjust the priority of explore
self.max_T = max_trajectory
self.max_D = max_depth
self.reward_gather = reward_gather
self.reward_find = reward_find
self.reward_endangerous = reward_endangerous
self.reward_lost_plane = reward_lost_plane
self.show_info = show_info
self.reward_intruder_life_plus = reward_intruder_life_plus
self.gama = gama
return super(QuantumUCTControl, self).__init__()
def initiate(self, planes, bases, region_size, max_plane_battery,
intruder_exposed_time, plane_sight, max_semo_intruder,
target_move):
self.bases = deepcopy(bases)
self.region_size = region_size
self.max_plane_battery = max_plane_battery
self.intruder_exposed_time = intruder_exposed_time
self.plane_sight = plane_sight
self.max_semo_intruder = max_semo_intruder
self.target_move = target_move
self.partner_preference = PartnerPreference(bases[0], plane_sight,
self.max_D, region_size)
self.prob_grid = ProbabilityGrid(region_size,
[plane.position for plane in planes],
plane_sight, None)
def decide(self, plane, planes, bases, found_intruders_position):
if planes.index(plane) == 0:
if found_intruders_position:
self.prob_grid.update_pdf_to_spercific_position(
found_intruders_position[0])
else:
self.prob_grid.update_pdf_with_no_intruder(
[one_plane.position for one_plane in planes])
if self.show_info:
print "Real distribution."
display_region(self.prob_grid.pdg)
pass
qt_simulator = QuantumSimulator(
self.prob_grid, self.partner_preference, self.region_size,
plane.num, planes, bases[0], self.max_T, self.max_D, self.gama,
self.reward_find, self.reward_endangerous, self.max_plane_battery,
self.plane_sight, self.CP, self.show_info,
found_intruders_position)
CMD = qt_simulator.UCTPlan()
return CMD
