def conflict_detection(owner, intruders):
conflict_UAV = []
antecedent = [None] * 3
for i in intruders:
temp_conflict = []
d = get_distance([owner[0], owner[1]], [i[0], i[1]])
if d <= 4:
print('Collision')
break
if d < 24:
Relative_location = Get_Relative_Location([owner[0], owner[1]],
[i[0], i[1]], owner[3])
# print(Relative_location)
if Relative_location:
temp_conflict.append(Relative_location)
if temp_conflict:
conflict_UAV.append(temp_conflict)
if temp_conflict[0] == 'F':
if d < 6:
antecedent[1] = 'N'
elif d > 16:
antecedent[1] = 'F'
else:
antecedent[1] = 'M'
if temp_conflict[0] == 'R':
if d < 10:
antecedent[2] = 'N'
else:
antecedent[2] = 'M'
if temp_conflict[0] == 'L':
if d < 10:
antecedent[0] = 'N'
else:
antecedent[0] = 'M'
if conflict_UAV:
# print(conflict_UAV)
if antecedent[0] == None:
antecedent[0] = 'M'
if antecedent[1] == None:
antecedent[1] = 'F'
if antecedent[2] == None:
antecedent[2] = 'M'
print(antecedent)
consequence = fuzzy_control(antecedent)
print(consequence)
print(defuzzificztion(consequence))
return defuzzificztion(consequence)[0], defuzzificztion(consequence)[1]
[r3.location_x, r3.location_y, r3.velocity, r3.heading]])
if order4:
r4.move_heading_velocity(order4[1], order4[0])
else:
r4.move()
tr_r1[0].append(r1.location_x)
tr_r1[1].append(r1.location_y)
tr_r2[0].append(r2.location_x)
tr_r2[1].append(r2.location_y)
tr_r3[0].append(r3.location_x)
tr_r3[1].append(r3.location_y)
tr_r4[0].append(r4.location_x)
tr_r4[1].append(r4.location_y)
if get_distance([r1.location_x, r1.location_y],
[r1.target_x, r1.target_y]) < 3 and get_distance([
r2.location_x, r2.location_y
], [r2.target_x, r2.target_y]) < 3 and get_distance(
[r3.location_x, r3.location_y],
[r3.target_x, r3.target_y]) < 3 and get_distance(
[r4.location_x, r4.location_y],
[r4.target_x, r4.target_y]) < 3:
break
elapsed = (time.time() - start)
print("Time used:", elapsed)
fig = plt.figure()
plt.plot(tr_r1[0], tr_r1[1], color='red', label='r1')
plt.plot(tr_r2[0], tr_r2[1], color='blue', label='r2')
plt.plot(tr_r3[0], tr_r3[1], color='green', label='r3')