Inferring the Optimum UAV's Trajectories Configuration Over Definite Intruder Paths with Multiple Random Starting Points Via Genetic Algorithm - Taking into consideration a set of synchronized UAV's - (Provided with the relevant Matlab Code).
Inferring the Optimum UAV's Trajectories Configuration Over Definite Intruder Paths with Multiple Random Starting Points Via Genetic Algorithm - Taking into consideration a set of synchronized UAV's - (Provided with the relevant Matlab Code).
VIP Model Call Girls Kalyani Nagar ( Pune ) Call ON 8005736733 Starting From ...
Inferring the Optimum UAV's Trajectories Configuration Over Definite Intruder Paths with Multiple Random Starting Points Via Genetic Algorithm - Taking into consideration a set of synchronized UAV's - (Provided with the relevant Matlab Code).
1. Genetic Trial #1
Inferring the Optimum UAV's Trajectories Configuration Over Definite Intruder
Paths with Multiple Random Starting Points Via Genetic Algorithm.
15. KK=0;
T=length(RTG);
while Q0-RT0_x0>0.1 && RT0_x0+Q0>0.1|| -RT0_x0+Q0<0.1
KK=KK+1;
if RT0_x0>=0 && RT0_x0<=(Q0-R0)
RT0_xn=RT0_x0-RT0_D;
RT0_yn=R0;
else
if RT0_x0<0 && RT0_x0>(Q0-R0)*(-1)
if (RT0_x0+(Q0-R0))<=mar
RT0_xn=-1*(Q0-R0);
RT0_yn=R0;
else
RT0_xn=RT0_x0-RT0_D;
RT0_yn=R0;
end
else
if RT0_x0>(Q0-R0) && RT0_x0<Q0
if (RT0_x0-(Q0-R0))<=mar1
RT0_xn=(Q0-R0);
RT0_yn=R0;
else
RT0_xn= R0*cos((RT0_D/R0)+acos(((RT0_x0)-(Q0-R0))/R0))+(Q0-R0);
RT0_yn=((R0)^2-(RT0_xn-(Q0-R0))^2)^0.5;
end
else
if RT0_x0<=(-1)*(Q0-R0) && RT0_x0>-Q0
RT0_xn= -R0*cos(((-1)*RT0_D/R0)+acos((((-1)*RT0_x0)-(Q0-R0))/R0))-
(Q0-R0);
RT0_yn=((R0)^2-((-RT0_xn)-(Q0-R0))^2)^0.5;
else
end
end
17. if RT0_x0<0 && RT0_x0>=(Q0-R0)*(-1)
RT0_xn=RT0_x0+RT0_D;
RT0_yn=-R0;
else
if RT0_x0>=(Q0-R0) && RT0_x0<Q0
RT0_xn= R0*cos((-RT0_D/R0)+acos(((RT0_x0)-(Q0-R0))/R0))+(Q0-R0);
RT0_yn=-((R0)^2-(RT0_xn-(Q0-R0))^2)^0.5;
else
if RT0_x0<=(-1)*(Q0-R0) && RT0_x0>-Q0
if (RT0_x0+(Q0-R0))>=-mar1
RT0_xn=-(Q0-R0);
RT0_yn=-R0;
else
RT0_xn= -R0*cos((RT0_D/R0)+acos((((-1)*RT0_x0)-(Q0-R0))/R0))-(Q0-
R0);
RT0_yn=-((R0)^2-((-RT0_xn)-(Q0-R0))^2)^0.5;
end
else
end
end
end
end
19. RT1_xn=-1*(Q1-R1);
RT1_yn=R1;
else
RT1_xn=RT1_x0-RT1_D;
RT1_yn=R1;
end
else
if RT1_x0>(Q1-R1) && RT1_x0<Q1
if (RT1_x0-(Q1-R1))<=mar1
RT1_xn=(Q1-R1);
RT1_yn=R1;
else
RT1_xn= R1*cos((RT1_D/R1)+acos(((RT1_x0)-(Q1-R1))/R1))+(Q1-R1);
RT1_yn=((R1)^2-(RT1_xn-(Q1-R1))^2)^0.5;
end
else
if RT1_x0<=(-1)*(Q1-R1) && RT1_x0>-Q1
RT1_xn= -R1*cos(((-1)*RT1_D/R1)+acos((((-1)*RT1_x0)-(Q1-R1))/R1))-
(Q1-R1);
RT1_yn=((R1)^2-((-RT1_xn)-(Q1-R1))^2)^0.5;
else
end
end
end
end
RT1_x0=RT1_xn;
RT2(KK)=RT1_xn;
RTY2(KK)=RT1_yn;
RTG1(T1+KK-1)=RT2(KK);
RTYG1(T1+KK-1)=RTY2(KK);
RTG1(T1+KK-1)=(RTG1(T1+KK-1)*cos(th1)-RTYG1(T1+KK-
1)*tan(th1)*cos(th1))+long1;
21. if RT1_x0<=(-1)*(Q1-R1) && RT1_x0>-Q1
if (RT1_x0+(Q1-R1))>=-mar1
RT1_xn=-(Q1-R1);
RT1_yn=-R1;
else
RT1_xn= -R1*cos((RT1_D/R1)+acos((((-1)*RT1_x0)-(Q1-R1))/R1))-(Q1-
R1);
RT1_yn=-((R1)^2-((-RT1_xn)-(Q1-R1))^2)^0.5;
end
else
end
end
end
end
RT1_x0=RT1_xn;
RT3(KK)=RT1_xn;
RTY3(KK)=RT1_yn;
RTG1(T1+KK-1)=RT3(KK);
RTYG1(T1+KK-1)=RTY3(KK);
RTG1(T1+KK-1)=(RTG1(T1+KK-1)*cos(th1)-RTYG1(T1+KK-
1)*tan(th1)*cos(th1))+long1;
RTYG1(T1+KK-1)=(RTG1(T1+KK-1)*cos(th1)-RTYG1(T1+KK-
1)*tan(th1)*cos(th1))*tan(th1)+RTYG1(T1+KK-1)/cos(th1)+lat1;
if RT1_yn>-mar2
RT1_y0=1;
else
end
end
22. end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%Next location on the third
flight path
if RT2_y0>=0
KK=0;
T2=length(RTG2);
while Q2-RT2_x0>0.1 && RT2_x0+Q2>0.1|| -RT2_x0+Q2<0.1
% for KK=1:1:2928
KK=KK+1;
if RT2_x0>=0 && RT2_x0<=(Q2-R2)
RT2_xn=RT2_x0-RT2_D;
RT2_yn=R2;
else
if RT2_x0<0 && RT2_x0>(Q2-R2)*(-1)
if (RT2_x0+(Q2-R2))<=mar
RT2_xn=-1*(Q2-R2);
RT2_yn=R2;
else
RT2_xn=RT2_x0-RT2_D;
RT2_yn=R2;
end
else
if RT2_x0>(Q2-R2) && RT2_x0<Q2
if (RT2_x0-(Q2-R2))<=mar1
RT2_xn=(Q2-R2);
RT2_yn=R2;
else
RT2_xn= R2*cos((RT2_D/R2)+acos(((RT2_x0)-(Q2-R2))/R2))+(Q2-R2);
RT2_yn=((R2)^2-(RT2_xn-(Q2-R2))^2)^0.5;
end
else
23. if RT2_x0<=(-1)*(Q2-R2) && RT2_x0>-Q2
RT2_xn= -R2*cos(((-1)*RT2_D/R2)+acos((((-1)*RT2_x0)-(Q2-R2))/R2))-
(Q2-R2);
RT2_yn=((R2)^2-((-RT2_xn)-(Q2-R2))^2)^0.5;
else
end
end
end
end
RT2_x0=RT2_xn;
RT4(KK)=RT2_xn;
RTY4(KK)=RT2_yn;
RTG2(T2+KK-1)=RT4(KK);
RTYG2(T2+KK-1)=RTY4(KK);
RTG2(T2+KK-1)=(RTG2(T2+KK-1)*cos(th2)-RTYG2(T2+KK-
1)*tan(th2)*cos(th2))+long2;
RTYG2(T2+KK-1)=(RTG2(T2+KK-1)*cos(th2)-RTYG2(T2+KK-
1)*tan(th2)*cos(th2))*tan(th2)+RTYG2(T2+KK-1)/cos(th2)+lat2;
if RT2_yn<mar2
RT2_y0=-1;
else
end
end
elseif RT2_y0<0
T2=length(RTG2);
KK=0;
while (Q2-RT2_x0>0.1 && RT2_x0+Q2>0.1)|| RT2_x0+Q2<0.1
24. % for KK=1:1:2928
KK=KK+1;
if RT2_x0>=0 && RT2_x0<=(Q2-R2)
if (RT2_x0+(Q2-R2))<=mar1
RT2_xn=(Q2-R2);
RT2_yn=-R2;
else
RT2_xn=RT2_x0+RT2_D;
RT2_yn=-R2;
end
else
if RT2_x0<0 && RT2_x0>=(Q2-R2)*(-1)
RT2_xn=RT2_x0+RT2_D;
RT2_yn=-R2;
else
if RT2_x0>=(Q2-R2) && RT2_x0<Q2
RT2_xn= R2*cos((-RT2_D/R2)+acos(((RT2_x0)-(Q2-R2))/R2))+(Q2-R2);
RT2_yn=-((R2)^2-(RT2_xn-(Q2-R2))^2)^0.5;
else
if RT2_x0<=(-1)*(Q2-R2) && RT2_x0>-Q2
if (RT2_x0+(Q2-R2))>=-mar1
RT2_xn=-(Q2-R2);
RT2_yn=-R2;
else
RT2_xn= -R2*cos((RT2_D/R2)+acos((((-1)*RT2_x0)-(Q2-R2))/R2))-(Q2-
R2);
RT2_yn=-((R2)^2-((-RT2_xn)-(Q2-R2))^2)^0.5;
end
else
26. KK=0;
while Q3-RT3_x0>0.1 && RT3_x0+Q3>0.1|| -RT3_x0+Q3<0.1
% for KK=1:1:2928
KK=KK+1;
if RT3_x0>=0 && RT3_x0<=(Q3-R3)
RT3_xn=RT3_x0-RT3_D;
RT3_yn=R3;
else
if RT3_x0<0 && RT3_x0>(Q3-R3)*(-1)
if (RT3_x0+(Q3-R3))<=mar
RT3_xn=-1*(Q3-R3);
RT3_yn=R3;
else
RT3_xn=RT3_x0-RT3_D;
RT3_yn=R3;
end
else
if RT3_x0>(Q3-R3) && RT3_x0<Q3
if (RT3_x0-(Q3-R3))<=mar1
RT3_xn=(Q3-R3);
RT3_yn=R3;
else
RT3_xn= R3*cos((RT3_D/R3)+acos(((RT3_x0)-(Q3-R3))/R3))+(Q3-R3);
RT3_yn=((R3)^2-(RT3_xn-(Q3-R3))^2)^0.5;
end
else
if RT3_x0<=(-1)*(Q3-R3) && RT3_x0>-Q3
RT3_xn= -R3*cos(((-1)*RT3_D/R3)+acos((((-1)*RT3_x0)-(Q3-R3))/R3))-
(Q3-R3);
RT3_yn=((R3)^2-((-RT3_xn)-(Q3-R3))^2)^0.5;
else
end
end
28. if RT3_x0<0 && RT3_x0>=(Q3-R3)*(-1)
RT3_xn=RT3_x0+RT3_D;
RT3_yn=-R3;
else
if RT3_x0>=(Q3-R3) && RT3_x0<Q3
RT3_xn= R3*cos((-RT3_D/R3)+acos(((RT3_x0)-(Q3-R3))/R3))+(Q3-R3);
RT3_yn=-((R3)^2-(RT3_xn-(Q3-R3))^2)^0.5;
else
if RT3_x0<=(-1)*(Q3-R3) && RT3_x0>-Q3
if (RT3_x0+(Q3-R3))>=-mar1
RT3_xn=-(Q3-R3);
RT3_yn=-R3;
else
RT3_xn= -R3*cos((RT3_D/R3)+acos((((-1)*RT3_x0)-(Q3-R3))/R3))-(Q3-
R3);
RT3_yn=-((R3)^2-((-RT3_xn)-(Q3-R3))^2)^0.5;
end
else
end
end
end
end
30. if RT4_x0<0 && RT4_x0>(Q4-R4)*(-1)
if (RT4_x0+(Q4-R4))<=mar
RT4_xn=-1*(Q4-R4);
RT4_yn=R4;
else
RT4_xn=RT4_x0-RT4_D;
RT4_yn=R4;
end
else
if RT4_x0>(Q4-R4) && RT4_x0<Q4
if (RT4_x0-(Q4-R4))<=mar1
RT4_xn=(Q4-R4);
RT4_yn=R4;
else
RT4_xn= R4*cos((RT4_D/R4)+acos(((RT4_x0)-(Q4-R4))/R4))+(Q4-R4);
RT4_yn=((R4)^2-(RT4_xn-(Q4-R4))^2)^0.5;
end
else
if RT4_x0<=(-1)*(Q4-R4) && RT4_x0>-Q4
RT4_xn= -R4*cos(((-1)*RT4_D/R4)+acos((((-1)*RT4_x0)-(Q4-R4))/R4))-
(Q4-R4);
RT4_yn=((R4)^2-((-RT4_xn)-(Q4-R4))^2)^0.5;
else
end
end
end
end
RT4_x0=RT4_xn;
RT8(KK)=RT4_xn;
RTY8(KK)=RT4_yn;
32. else
if RT4_x0<=(-1)*(Q4-R4) && RT4_x0>-Q4
if (RT4_x0+(Q4-R4))>=-mar1
RT4_xn=-(Q4-R4);
RT4_yn=-R4;
else
RT4_xn= -R4*cos((RT4_D/R4)+acos((((-1)*RT4_x0)-(Q4-R4))/R4))-(Q4-
R4);
RT4_yn=-((R4)^2-((-RT4_xn)-(Q4-R4))^2)^0.5;
end
else
end
end
end
end
RT4_x0=RT4_xn;
RT9(KK)=RT4_xn;
RTY9(KK)=RT4_yn;
RTG4(T4+KK-1)=RT9(KK);
RTYG4(T4+KK-1)=RTY9(KK);
RTG4(T4+KK-1)=(RTG4(T4+KK-1)*cos(th4)-RTYG4(T4+KK-
1)*tan(th4)*cos(th4))+long4;
RTYG4(T4+KK-1)=(RTG4(T4+KK-1)*cos(th4)-RTYG4(T4+KK-
1)*tan(th4)*cos(th4))*tan(th4)+RTYG4(T4+KK-1)/cos(th4)+lat4;
if RT4_yn>-mar2
RT4_y0=1;
else
35. U=0;
while U<=(L_RTG1-1)
U=U+1;
if (r^2)>=((RTG1(U)-x(v))^2+(RTYG1(U)-f1(v))^2)&& U==v
z=z+1;
Dx10_Time(z)=RTG1(U);
Dy10_Time(z)=RTYG1(U);
else
end
end
U=0;
while U<=(L_RTG2-1)
U=U+1;
if (r^2)>=((RTG2(U)-x(v))^2+(RTYG2(U)-f1(v))^2)&& U==v
z=z+1;
Dx20_Time(z)=RTG2(U);
Dy20_Time(z)=RTYG2(U);
else
end
end
U=0;
while U<=(L_RTG3-1)
U=U+1;
if (r^2)>=((RTG3(U)-x(v))^2+(RTYG3(U)-f1(v))^2)&& U==v
z=z+1;
Dx30_Time(z)=RTG3(U);
Dy30_Time(z)=RTYG3(U);
else
end
36. end
U=0;
while U<=(L_RTG4-1)
U=U+1;
if (r^2)>=((RTG4(U)-x(v))^2+(RTYG4(U)-f1(v))^2)&& U==v
z=z+1;
Dx4_Time(z)=RTG4(U);
Dy4_Time(z)=RTYG4(U);
else
end
end
end
v=0;
z=0;
while v<=(L_x1-1)
v=v+1;
U=0;
while U<=(L_RTG-1)
U=U+1;
if (r^2)>=((RTG(U)-x1(v))^2+(RTYG(U)-f11(v))^2)&& U==v
z=z+1;
Dx0_Time(z)=RTG(U);
Dy0_Time(z)=RTYG(U);
else
end
end
U=0;
while U<=(L_RTG1-1)
38. while U<=(L_RTG4-1)
U=U+1;
if (r^2)>=((RTG4(U)-x1(v))^2+(RTYG4(U)-f11(v))^2)&& U==v
z=z+1;
Dx41_Time(z)=RTG4(U);
Dy41_Time(z)=RTYG4(U);
else
end
end
end
v=0;
z=0;
while v<=(L_x2-1)
v=v+1;
U=0;
while U<=(L_RTG-1)
U=U+1;
if (r^2)>=((RTG(U)-x2(v))^2+(RTYG(U)-f12(v))^2)&& U==v
z=z+1;
Dx1_Time(z)=RTG(U);
Dy1_Time(z)=RTYG(U);
else
end
end
U=0;
while U<=(L_RTG1-1)
U=U+1;
if (r^2)>=((RTG1(U)-x2(v))^2+(RTYG1(U)-f12(v))^2)&& U==v
41. else
end
end
U=0;
while U<=(L_RTG2-1)
U=U+1;
if (r^2)>=((RTG2(U)-x3(v))^2+(RTYG2(U)-f13(v))^2)&& U==v
z=z+1;
Dx23_Time(z)=RTG2(U);
Dy23_Time(z)=RTYG2(U);
else
end
end
U=0;
while U<=(L_RTG3-1)
U=U+1;
if (r^2)>=((RTG3(U)-x3(v))^2+(RTYG3(U)-f13(v))^2)&& U==v
z=z+1;
Dx33_Time(z)=RTG3(U);
Dy33_Time(z)=RTYG3(U);
else
end
end
U=0;
while U<=(L_RTG4-1)
U=U+1;
if (r^2)>=((RTG4(U)-x3(v))^2+(RTYG4(U)-f13(v))^2)&& U==v
z=z+1;
43. end
U=0;
while U<=(L_RTG2-1)
U=U+1;
if (r^2)>=((RTG2(U)-x4(v))^2+(RTYG2(U)-f14(v))^2)&& U==v
z=z+1;
Dx24_Time(z)=RTG2(U);
Dy24_Time(z)=RTYG2(U);
else
end
end
U=0;
while U<=(L_RTG3-1)
U=U+1;
if (r^2)>=((RTG3(U)-x4(v))^2+(RTYG3(U)-f14(v))^2)&& U==v
z=z+1;
Dx34_Time(z)=RTG3(U);
Dy34_Time(z)=RTYG3(U);
else
end
end
U=0;
while U<=(L_RTG4-1)
U=U+1;
if (r^2)>=((RTG4(U)-x4(v))^2+(RTYG4(U)-f14(v))^2)&& U==v
z=z+1;
Dx44_Time(z)=RTG4(U);
Dy44_Time(z)=RTYG4(U);
else
45. Ji=1./(F+1e-10);
%****** Step 1 : Evaluate BestJ ******
BestJ(k)=min(Ji);
fi=F; %Fitness Function
[Oderfi,Indexfi]=sort(fi); %Arranging fi small to bigger
Bestfi=Oderfi(Size); %Let Bestfi=max(fi)
BestS=E(Indexfi(Size),:); %Let BestS=E(m), m is the Indexfi belong
to max(fi)
bfi(k)=Bestfi;
%****** Step 2 : Select and Reproduct Operation******
fi_sum=sum(fi);
fi_Size=(Oderfi/fi_sum)*Size;
fi_S=floor(fi_Size); %Selecting Bigger fi value
kk=1;
for i=1:1:Size
for j=1:1:fi_S(i) %Select and Reproduce
TempE(kk,:)=E(Indexfi(i),:);
kk=kk+1; %kk is used to reproduce
end
end
%************ Step 3 : Crossover Operation ************
pc=0.60;
n=ceil(250*rand);
for i=1:2:(Size-1)
temp=rand;
if pc>temp %Crossover Condition
for j=n:1:250
TempE(i,j)=E(i+1,j);
TempE(i+1,j)=E(i,j);
end
end
end
TempE(Size,:)=BestS;
E=TempE;
%************ Step 4: Mutation Operation **************
%pm=0.001;
%pm=0.001-[1:1:Size]*(0.001)/Size; %Bigger fi, smaller Pm
%pm=0.0; %No mutation
pm=0.1; %Big mutation
for i=1:1:Size
for j=1:1:25*CodeL
temp=rand;
if pm>temp %Mutation Condition
if TempE(i,j)==0
TempE(i,j)=1;
else
TempE(i,j)=0;
46. end
end
end
end
%Guarantee TempPop(30,:) is the code belong to the best
individual(max(fi))
TempE(Size,:)=BestS;
E=TempE;
W0(k)=W0;
W1(k)=W1;
W2(k)=W2;
W3(k)=W3;
W4(k)=W4;
L0(k)=L0;
L1(k)=L1;
L2(k)=L2;
L3(k)=L3;
L4(k)=L4;
th0(k)=th0;
th1(k)=th1;
th2(k)=th2;
th3(k)=th3;
th4(k)=th4;
lat0(k)=lat0;
lat1(k)=lat1;
lat2(k)=lat2;
lat3(k)=lat3;
lat4(k)=lat4;
long0(k)=long0;
long1(k)=long1;
long2(k)=long2;
long3(k)=long3;
long4(k)=long4;
end
Max_Value=Bestfi
BestS