pso算法路径规划

pso算法路径的规划问题，主要是在有障碍的情况下从一点到达另一点的路径规划。

clear all
clc
%     for o=1:4
        tic
%         for u=1:50
          %% 设置各参数值
                startX=0;startY=0;                            %起开始坐标                          
                endX=700;endY=700;                            %结束坐标
                c1=2;
                c2=2;                     %学习因子
                w=0.7;                %惯性权数
                pop=20;               %粒子数
                N_gen=500;
                popmax=700;
                popmin=0;              %位置范围，根据测试函数而定
                Vmax=20;
                Vmin=-20;                 %速度范围，根据测试函数而定
                gridCount=30;
                %% 生成山峰
          threat=[304 400 0;404 320 0;440 500 0;279 310 0;560 220 0;172 527 0;....
                194 220 0;272 522 0;350 200 0;....
                 650 400 0;740 250 0;540 375 0;510 600 0];
            r=[45 50 55 10 70 65 55 25 50 30 40 40 35];

        for i=1:length（r）
              figure（1）
              [xyz]=sphere;
              mesh（threat（i1）+r（i）*xthreat（i2）+r（i）*yabs（threat（i3）+r（i）*z））;
              hold on
        end
        view（[-30-3070]）
           %% 初始化粒子
                    for i=1:pop
                        for j=1:gridCount
                                X（ij）=startX+j*（endX-startX）/（gridCount+1）;
                                Y（ij）=startY+rand（）*（endY-startY）;
                                path（i2*j-1）=X（ij）;
                                path（i2*j）=Y（ij）;
                        end
                    end
                     for i=1:pop
                         [distancepathpointpositionPoint]=verify（path（i:）threat....
                                         rstartXstartYendXendYgridCount）;
                        fitness（i）=distance;
                            V（i:）=5*rands（1gridCount*2）;  %分布在速度范围内
                    end
                    [bestFitnessbestindex]=min（fitness）;
                    bestpath=path（bestindex:）;
                    pbest=path;  
                    T=std（fitness）; 
                    BestFitness=Inf;
                    globalFitness=Inf;
                    pathRecord=zeros（1gridCount+1）; bestRecord=zeros（1gridCount+1）;
                    position=zeros（gridCount+12）;

                %% 迭代取优
                for i=1:N_gen
                    for j=1:pop
                        V（j:）=w*V（j:）+c1*rand*（pbest（j:）-path（j:））+c2*rand*（bestpath-path（j:））;  %根据公式更新速度
                        V（jfind（V（j:）>Vmax））=Vmax;  %限制速度大小
                        V（jfind（V（j:）
                        path（j:）=path（j:）+V（j:）;  %根据公式更新位置
                        path（jfind（path（j:）>popmax））=popmax;  %限制位置大小
                        path（jfind（path（j:）                           [distancepathpointpositionPoint]=verify（path（j:）threat....
                                 rstartXstartYendXendYgridCount）;
                             fmin=distance;
                        if fmin<

 属性            大小     日期    时间   名称
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     文件       4812  2018-10-10 17:56  PSO_mountain-master\pso_mountain.m

     文件         67  2018-09-21 09:22  PSO_mountain-master\README.md

     文件       2639  2018-09-21 09:22  PSO_mountain-master\verify.m

     目录          0  2018-10-10 10:07  PSO_mountain-master

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