def calculateSwarmDrones(self, newParameters):
SPFParameter = newParameters[0:4]
TPFParameter = newParameters[4:6]
# Setup
min_allowable_dist = self.targetOutput
Drones = []
position_drone1 = [(0, 0, 5)]
Drone1 = Agent(0, position_drone1[0], 1)
Drones.append(Drone1)
position_drone2 = [(10, 0, 5)]
Drone2 = Agent(1, position_drone2[0], 1)
Drones.append(Drone2)
SPF = SwarmPotentialField(min_allowable_dist)
SPF.setup(SPFParameter)
Ship = Target([5, 10, 5])
TPF = TargetPotentialField(TPFParameter[0], TPFParameter[1], 1)
Ships = [Ship]
responseValue = []
for iteration in self.simulationTime:
Drone1.SwarmPotentialForce = SPF.calculate_total_swarm_field_force(
Drone1.index, Drones)
Drone2.SwarmPotentialForce = SPF.calculate_total_swarm_field_force(
Drone2.index, Drones)
Drone1.TargetPotentialForce = TPF.calculate_target_force(
Drone1.index, 0, Drones, Ships)
Drone2.TargetPotentialForce = TPF.calculate_target_force(
Drone2.index, 0, Drones, Ships)
self.swarmForces.append(
calculateLength(Drone1.calculate_total_force()))
Drone1.calculateVelocity(Drone1.calculate_total_force())
Drone1.move()
Drone2.calculateVelocity(Drone2.calculate_total_force())
Drone2.move()
[distance_tuple, distance] = SPF.getDistance(0, 1, Drones)
responseValue.append(distance)
return responseValue, True
arena.set_zlabel('Z (meter)')
arena.set_xlim(-1, 12)
arena.set_ylim(-1, 12)
arena.set_zlim(6, 12)
drone1Position = arena.scatter([position_drone1[0]], [position_drone1[1]], [position_drone1[2]], color="red")
drone2Position = arena.scatter([position_drone2[0]], [position_drone2[1]], [position_drone2[2]], color="green")
# drone3Position = arena.scatter([position_drone3[0]], [position_drone3[1]], [position_drone3[2]], color="blue")
view.show()
for i in range(100):
print('------- ITERATION ', i, '-----------')
Drone1.SwarmPotentialForce = SPF.calculate_total_swarm_field_force(Drone1.index, Drones)
print('Drone1 SPF = ', Drone1.SwarmPotentialForce, '\n')
Drone2.SwarmPotentialForce = SPF.calculate_total_swarm_field_force(Drone2.index, Drones)
print('Drone2 SPF = ', Drone2.SwarmPotentialForce, '\n')
# Drone3.SwarmPotentialForce = SPF.calculate_total_swarm_field_force(Drone3.index, Drones)
# print('Drone3 SPF = ', Drone3.SwarmPotentialForce, '\n')
Drone1.calculateVelocity(Drone1.SwarmPotentialForce)
print('Drone1 Velocity', Drone1.velocity)
Drone1.move()
print('Drone1 Position', Drone1.position)
Drone2.calculateVelocity(Drone2.SwarmPotentialForce)
print('Drone2 Velocity', Drone2.velocity)
Drone2.move()
print('Drone2 Position', Drone2.position)
