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
position_ship1 = [(0, 0, 0)]
Ship1 = Target(position_ship1[0])
Ship1.setVelocity((2, 2, 0))
Ships.append(Ship1)
OPF = ObstaclePotentialField(1, 1, 10)
TPF = TargetPotentialField(1, 1, 1)
for i in range(0, 100):
print('------- ITERATION ', i, '-----------')
obstacle1_forces = OPF.calculate_obstacle_forces(Drones, Coral)
obstacle2_forces = OPF.calculate_obstacle_forces(Drones, Coral2)
Drone1.ObstaclePotentialForce = obstacle1_forces[Drone1.index]
Drone2.ObstaclePotentialForce = obstacle1_forces[Drone2.index]
Drone1.TargetPotentialForce = TPF.calculate_target_force(
Drone1.index, 0, Drones, Ships)
Drone2.TargetPotentialForce = TPF.calculate_target_force(
Drone2.index, 0, Drones, Ships)
print('Drone1 TPF = ', Drone1.TargetPotentialForce, '\n')
print('Drone1 OPF = ', Drone1.ObstaclePotentialForce, '\n')
print('Drone1 Total Force = ', Drone1.calculate_total_force(), '\n')
print(Drone1.calculateVelocity(Drone1.calculate_total_force()))
print('Drone1 Velocity', Drone1.velocity)
Drone1.move()
print('Drone1 Position', Drone1.position)
print('\n')
print('Drone2 TPF = ', Drone2.TargetPotentialForce, '\n')
print('Drone2 OPF = ', Drone2.ObstaclePotentialForce, '\n')
Drones = []
Drone1 = Agent(0, (0, 5, 4), 1)
Drones.append(Drone1)
Drone2 = Agent(1, (0, 0, 9), 1)
Drones.append(Drone2)
Targets = []
Ship = Target((9, 9, 0))
Targets.append(Ship)
TPF = TargetPotentialField(1, 1, 1)
for i in range(0, 20):
print('------- ITERATION ', i, '-----------')
Drone1.TargetPotentialForce = TPF.calculate_target_force(
0, 0, Drones, Targets)
Drone2.TargetPotentialForce = TPF.calculate_target_force(
1, 0, Drones, Targets)
print('Drone1 TPF = ', Drone1.TargetPotentialForce, '\n')
print(Drone1.calculateVelocity(Drone1.TargetPotentialForce))
print('Drone1 Velocity', Drone1.velocity)
Drone1.move()
print('Drone1 Position', Drone1.position)
print('\n')
print('Drone2 TPF = ', Drone2.TargetPotentialForce, '\n')
print(Drone2.calculateVelocity(Drone2.TargetPotentialForce))
print('Drone2 Velocity', Drone2.velocity)
Drone2.move()
