%Dynamic?env
total?=?10;?????%?no?of?ants
iterations?=?1000;????%no.?of?iterations
phera_up?=?-1;
rho?=?0.8;
alpha?=?1;
beta?=?0;

%?initialization?of?env
mat?=?ones（250250）;
path?=?ones（250250）;
goal?=?[0?0];
[env?goal]?=?env_dy（mat0goal）;
goal_a?=?zeros（12）;
reached?=?-1;
reached_count?=?0;
figure（1）;

????????%?Initialization?of?ants
ant?=?zeros（totaliterations2）;?
ant_sta?=?zeros（total2）;
ant（:1:）?=?1;
ant_sta（:1）?=?1;
phera?=?zeros（250250）;

????????%?Iterations
li?=1:8;?
lm?=?[0?-1;1?-1;1?0;1?1;0?1;-1?1;-1?0;-1?-1];
lm?=?lm?*?5;
filter?=?ones（55）?*?0.25;???????????%gausian?filter?of?size?3
filter（2:42:4）?=?ones（33）?*?0.5;
filter（33）?=?1;
for?i?=?1:iterations
????for?j?=?1:total
???????if（ant_sta（j2）?==?1）
???????????continue;
???????end
???????min?=?-500;?
???????r_temp?=?ant（jant_sta（j1）1）;
???????c_temp?=?ant（jant_sta（j1）2）;
???????l?=?li（randperm（8））;
???????for?ll?=?1:8
??????????????r?=?ant（jant_sta（j1）1）+lm（l（ll）1）;
??????????????c?=?ant（jant_sta（j1）2）+lm（l（ll）2）;
??????????????if（r?<=?0?||?c?<=?0?||?r?>=?251?||?c?>=?251?）
?????????????????continue;?
??????????????end
??????????????
??????????????if（r>=goal（1）-1?&&?r<=goal（1）+10?&&?c>=goal（2）-1?&&?c<=goal（2）+10）??????????%Goal?Test
??????????????????ant_sta（j2）?=?1;
??????????????????r_temp?=?goal（1）;
??????????????????c_temp?=?goal（2）;
??????????????????goal_a（1）?=?r;
??????????????????goal_a（2）?=?c;
??????????????????reached_count?=?reached_count?+?1;
??????????????????if（reached?==?-1）
????????????????????rho?=?0.8;
????????????????????reached?=?1;
????????????????????beta?=?0;
????????????????????alpha?=?1;
??????????????????end
??????????????????for?b=1:ant_sta（j1）
??????????????????????a?=?ant_sta（j1）?+?1?-b;
???????????????????????if（ant（ja1）?<=10?||?ant（ja2）?<=10?||ant（ja1）?>=?241?||?ant（ja2）?>=?241?）
???????????????????????????phera（ant（ja1）ant（ja2））?=?max（phera（ant（ja1）ant（ja2））??1/b）;
???????????????????????else
??????????????????????????temp_mat?=?filter*（1/b）;
??????????????????????????for?u?=?1:5
?????????????????????????????for?v?=?1:5
????????????????????????????????phera（ant（ja1）-15+5*uant（ja2）-15+5*v）?=?max（phera（ant（ja1）-15+5*uant（ja2）-15+5*v）??temp_mat（uv））;
?????????????????????????????end
??????????????????????????end
???????????????????????end???????????????
??????????????????end?????????????????
??????????????????break;
??????????????end
??????????????
??????????????if（?env（rc）?==?1）
??????????????????trans?=?（phera（rc）/abs（phera（rc）））*（abs（phera（rc））^alpha）/（（（sqrt（（goal_a（1）-r）^2+（goal_a（2）-c）^2）+1））^beta）;
??????????????????if（trans?????????????????????continue;
??????????????????end
??????????????????min?=?trans;
??????????????????r_temp?=?r;
??????????????????c_temp?=?c;
??????????????end
???????end
???????env（ant（jant_sta（j1）1）ant（jant_sta（j1）2））?=?1;
???????env（r_tempc_temp）?=?0;
???

?屬性????????????大小?????日期????時間???名稱
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????.......??????8014??2016-03-31?21:27??multi_robot_navigation-ACO-master\code.m

????.......???????806??2016-03-31?21:27??multi_robot_navigation-ACO-master\env_dy.m

????.......???????335??2016-03-31?21:27??multi_robot_navigation-ACO-master\README.md

?????目錄??????????0??2016-03-31?21:27??multi_robot_navigation-ACO-master

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