def generate_mopso_velocity(self, timer, finalwaypoints, num, TMAX, wstart, wend):
vel = [0, 0, 0]
R1 = (random.randrange(0,100,10)/100)
R2 = (random.randrange(0,100,10)/100)
R3 = (random.randrange(0,100,10)/100)
w = (wstart - (wstart - wend)*((timer / TMAX)**2))
if self.__gbestloc[0] and not self.__bestlocation[0]:
vel[0] = w*(self.__velocity[0]) + R3*1000*(finalwaypoints[self.id-1][0]-self.get_pos()[0]) + R2*1000*(self.__gbestloc[0]-self.get_pos()[0])
vel[2]=0
vel[1] = w*(self.__velocity[1]) + R3*1000*(finalwaypoints[self.id-1][1]-self.get_pos()[1]) + R2*1000*(self.__gbestloc[1]-self.get_pos()[1])
elif not self.__gbestloc[0] and not self.__bestlocation[0]:
#print(R3*1000*(finalwaypoints[self.id-1][0]-self.get_pos()[0]),R2*1000*(self.__gbest[0]-self.get_pos()[0]),R1*1000*(self.__bestlocation[1]-self.get_pos()[1]) )
vel[0] = w*(self.__velocity[0]) + R3*1000*(finalwaypoints[self.id-1][0]-self.get_pos()[0]) + R1*1000*(self.__bestlocation[0]-self.get_pos()[0])
vel[2]=0
vel[1] = w*(self.__velocity[1]) + R3*1000*(finalwaypoints[self.id-1][1]-self.get_pos()[1]) + R1*1000*(self.__bestlocation[1]-self.get_pos()[1])
elif not self.__bestlocation[0] and not self.__gbestloc[0]:
vel[0] = w*(self.__velocity[0]) + R3*1000*(finalwaypoints[self.id-1][0]-self.get_pos()[0])
vel[2]=0
vel[1] = w*(self.__velocity[1]) + R3*1000*(finalwaypoints[self.id-1][1]-self.get_pos()[1])
else:
vel[0] = w*(self.__velocity[0]) + R3*1000*(finalwaypoints[self.id-1][0]-self.get_pos()[0]) + R2*1000*(self.__gbest[0]-self.get_pos()[0]) + R1*1000*(self.__bestlocation[0]-self.get_pos()[0])
vel[2]=0
vel[1] = w*(self.__velocity[1]) + R3*1000*(finalwaypoints[self.id-1][1]-self.get_pos()[1]) + R2*1000*(self.__gbestloc[1]-self.get_pos()[1]) + R1*1000*(self.__bestlocation[1]-self.get_pos()[1])
vel = self.inter_uav_collsion(vel)
v_mopso = inside_circle(vel)
return vmopso
def generate_mopso_velocity(self, timer, finalwaypoints, num, TMAX, wstart,
wend, GlobalUavData):
vel = [0, 0, 0]
print("generating velocity,,,")
print("...")
R1 = (random.randrange(0, 100, 10) / 100)
R2 = (random.randrange(0, 100, 10) / 100)
R3 = (random.randrange(0, 100, 10) / 100)
w = (wstart - (wstart - wend) * ((timer / TMAX)**2))
if self.__gbestloc[0] and not self.__bestlocation[0]:
print("gbest something and best location nothing")
vel[0] = w * (self.__velocity[0]) + R3 * 1000 * (
finalwaypoints[self.id - 1][0] - self.get_pos()[0]
) + R2 * 1000 * (self.__gbestloc[0] - self.get_pos()[0])
vel[2] = 0
vel[1] = w * (self.__velocity[1]) + R3 * 1000 * (
finalwaypoints[self.id - 1][1] - self.get_pos()[1]
) + R2 * 1000 * (self.__gbestloc[1] - self.get_pos()[1])
elif not self.__gbestloc[0] and self.__bestlocation[0]:
#print(R3*1000*(finalwaypoints[self.id-1][0]-self.get_pos()[0]),R2*1000*(self.__gbest[0]-self.get_pos()[0]),R1*1000*(self.__bestlocation[1]-self.get_pos()[1]) )
print("both nothiung")
vel[0] = w * (self.__velocity[0]) + R3 * 1000 * (
finalwaypoints[self.id - 1][0] - self.get_pos()[0]
) + R1 * 1000 * (self.__bestlocation[0] - self.get_pos()[0])
vel[2] = 0
vel[1] = w * (self.__velocity[1]) + R3 * 1000 * (
finalwaypoints[self.id - 1][1] - self.get_pos()[1]
) + R1 * 1000 * (self.__bestlocation[1] - self.get_pos()[1])
elif not self.__bestlocation[0] and not self.__gbestloc[0]:
print("gbest nothing and best location something")
vel[0] = w * (self.__velocity[0]) + R3 * 1000 * (
finalwaypoints[self.id - 1][0] - self.get_pos()[0])
vel[2] = 0
vel[1] = w * (self.__velocity[1]) + R3 * 1000 * (
finalwaypoints[self.id - 1][1] - self.get_pos()[1])
else:
print("gbest something and best location nothing")
vel[0] = w * (self.__velocity[0]) + R3 * 1000 * (finalwaypoints[
self.id - 1][0] - self.get_pos()[0]) + R2 * 1000 * (
self.__gbestloc[0] - self.get_pos()[0]) + R1 * 1000 * (
self.__bestlocation[0] - self.get_pos()[0])
vel[2] = 0
vel[1] = w * (self.__velocity[1]) + R3 * 1000 * (finalwaypoints[
self.id - 1][1] - self.get_pos()[1]) + R2 * 1000 * (
self.__gbestloc[1] - self.get_pos()[1]) + R1 * 1000 * (
self.__bestlocation[1] - self.get_pos()[1])
vel = self.inter_uav_collsion(vel, GlobalUavData)
v_mopso = inside_circle(vel)
return v_mopso
def velocity_post_drop(self):
"""
"""
vel = [0,0,0]
curr_vel = self.__velocity
vel[0] = 100000*(self.__droplocation[0]-(vehicle[j].get_pos()[0]))
vel[1] = 100000*((self.__droplocation[1])-(vehicle[j].get_pos()[1]))
vel[2] = 0
vel = self.inter_uav_collsion(j,n,vel)
vc = inside_circle(vel)
return vc
def velocity_post_drop(self, GlobalUavData):
"""
"""
vel = [0, 0, 0]
curr_vel = self.__velocity
vel[0] = 100000 * (self.__droplocation[0] - (self.get_pos()[0]))
vel[1] = 100000 * ((self.__droplocation[1]) - (self.get_pos()[1]))
vel[2] = 0
vel = self.inter_uav_collsion(vel, GlobalUavData)
vc = inside_circle(vel)
return vc