【无人机分配】救灾无人机机队任务分配问题研究附matlab代码

%% RequestZone object class classdef RequestZone6 < handle %RequestZone class to simulate requests for aid in the UAV simulation % Stores location, probability of requests, probability of high/low % priority, time needed to fulfill requests, etc. % This version is a handle class. properties position % The location of the drop zone activeList % List of the currently active requests in that zone probX % Probability of the new A request probY % Probability of a B request expired % Number of expired requests numUnassigned % Number of unassigned requests completed % The number of completed requets manager % The manager that assigns to the drone exprTimeX % The average time at which A requests expire exprTimeY % The average time at which B requests expire waitTime % The amount of time requests have waited for aid (COMPLETED/EXPIRED ONLY) waitTimeHi % The amount of time high priority requests have waited priFac % The priority factor timeFac % The time factor (how requests gain importance over time ) ID % The Request zone ID number, equals the zone ’s index in the manager’ s requestZones list end methods % Constructor % This tells what the position of the request is. It also tells % what the probability of a new request is and what the probability % of a high priority request is function obj = RequestZone6( pos ,probX,probY,exprTimeX, exprTimeY, ID) obj.position = pos ; obj.probX = probX; obj.probY = probY; obj.activeList=Request6.empty; obj.expired = 0 ; obj.numUnassigned = 0 ; obj.completed = 0 ; obj.waitTime = 0 ; obj.waitTimeHi = 0 ; obj.manager=Manager6.empty; obj.exprTimeX = exprTimeX; obj.exprTimeY = exprTimeY; obj.priFac = 1 ; obj.timeFac = 1 ; obj.ID = ID; end % Refresh function to be called every few hours % The function randomly tests to see if the request is of high % priority or low priority and adds it to the list function refresh(obj, time ) x1= rand ; % Random number for new A requests y1= rand ; % Random number for new B requests % Generate a new request based on the probabilities of new % requests and high priority requests priority = obj.priFac; newHi = 0 ; % Determine the number of requests to add using random numbers % and the probability of new requests while (x1<obj.probX) % Create an X request exprTime = obj.getExpire( ’X’ ); if (exprTime <= 1 ) newHi = 1 ; end newreq = Request6( time , obj.manager.priFac,obj.manager.timeFac, obj,exprTime, ’X’ , length (obj.activeList)+ 1 ); obj.activeList(newreq.index) = newreq; x1= rand ; end while (y1<obj.probY) exprTime = obj.getExpire( ’Y’ ); if (exprTime <= 1 ) newHi = 1 ; end newreq = Request6( time , obj.manager.priFac,obj.manager.timeFac, obj,exprTime, ’Y’ , length (obj.activeList)+ 1 ); obj.activeList(newreq.index) = newreq; y1= rand ; end obj.numUnassigned = obj.getUnassigned(); % Refresh the all active requests p = 1 ; n = length (obj.activeList); while (p <= length (obj.activeList)) if (obj.activeList(p).status > 0 ) obj.activeList(p).refresh( time ); else disp( ’Old request found’ ) obj.remove(obj.activeList(p).index); end if (n == length (obj.activeList)) p = p + 1 ; else n = length (obj.activeList); end end % Call the assign function if a new high priority request was % generated if newHi > 0 obj.manager.assign(); end end % Function to remove the request from the active list upon completion % This is a homemade way of removing the request from the % active list so it will not be attempted twice function remove(obj, index ) n = length (obj.activeList); % Check that the index is less than the list length and that % the list has more than one value if (n> index && n> 1 ) for c = index :n- 1 obj.activeList(c) = obj.activeList(c+ 1 ); obj.activeList(c).index = c; end obj.activeList = obj.activeList( 1 :n- 1 ); elseif(n<= 1 ) % Remove the only element in a list obj.activeList = Request6.empty; elseif( index == n) % Remove the last element( if necessary) obj.activeList=obj.activeList( 1 :n- 1 ); end end % Function to return the number of unassigned requests function c = getUnassigned(obj) c = 0 ; for i = 1 : length (obj.activeList) if (obj.activeList(i).status == 2 ) c = c+ 1 ; end end end % Function to reset the zone at the beginning of a simulation function reset (obj) obj.activeList=Request6.empty; obj.expired = 0 ; obj.numUnassigned = 0 ; obj.manager=Manager6.empty; end %% This function is made to get the highest priority requests from % the request zone. The number of requests returned equals the number of UAV ’s in the fleet function requests = getHighest(obj, numUAV) P = zeros(length(obj.activeList), 2); % Stores priority sortedRequests=Request6.empty; for j = 1:length(obj.activeList) P(j, :) = [obj.activeList(j).priority, j]; end sortedP = sortrows(P, 1); for c = 1: length(obj.activeList) sortedRequests(c) = obj.activeList(sortedP(c, 2)); if sortedRequests(c).status<2 || sortedRequests(c).index<1 disp(’ OLD REQUEST FOUND ’) end sortedRequests(c).index=c; end if isempty(sortedRequests) requests=sortedRequests; else obj.activeList=sortedRequests; if(numUAV<length(sortedRequests)) requests = sortedRequests(1:numUAV); else requests=sortedRequests; end end end %% Find the expiration time for a given request function exprTime = getExpire(obj, type) p=rand; % uniform random number (0-1) % Type X requests if(type == ’ X ’) exprTime = (obj.exprTimeX.*(p.^(1/4)))./((1-p).^(1/4)); else % Type Y exprTime = (obj.exprTimeY.*(p.^(1/4)))./((1-p).^(1/4)); end end end end