【任务分配】基于matlab实现多无人机动态任务分配附matlab代码

function [t, performance] = mainSimCentral(tarIndex, nTargets)% the main and starting program for uav coalition formationglobal trustGain targetMeasurements targetValue targetThreshold trustFlag st Phat errorFlagglobal numCoalitions numResources% initialize the problem[uav,target,l,b] = initializeMonte_Central(tarIndex,nTargets);trustGain = 1/length(uav);%targetMeasurements = rand(length(target),1);%0.7+rand(length(target),1)*0.3;load targetMeasurementstargetMeasurements = max(0.3,targetMeasurements);numCoalitions = 0;numResources = 0;% target informationtargetValue =0;targetThreshold = 0.75; % target threshold for counting the value%trustFlag = 0; % 0 for trusting everyone, 1 for estimating trusttargetLocations = []; targetResources = [];for iTarget = 1:length(target)    targetLocations = [targetLocations; target(iTarget).Location];    targetResources = [targetResources; target(iTarget).Resources];enddt =.25; % time stepbroadcast = [];performance = zeros(1000*dt,length(uav));pindex = 1;st(1) = inf;% the loop over time starts herefor t = 0:dt:10000    nextBroadcast = [];    for iUav = 1:length(uav)        % for each uav execute the coalition logic        [uav(iUav),target,targetResources,nextBroadcast] = uavlogicCentral(uav(iUav),target,dt,l,b,targetLocations,targetResources,broadcast,nextBroadcast, t);        %performance(pindex,iUav) = uav(iUav).trustValues(iUav);    end    performance(pindex,:) = Phat;    % plot uav and target positions at each time step    if mod(t,10) == 0       disp([t st(end)])     plotscene(uav,target,l,b)    end    % break the loop is all targets are destroyed    if targetResources == 0        break    else        st = [st; sum(targetResources(:,1))];%         if st(end)5>st(end-1)%             keyboard;%         end    end    %disp(sum(targetResources))    broadcast = nextBroadcast;    pindex = pindex + 1;        searchf = 0;    for i = 1:length(uav)        if uav(i).Status == 'InSearch***'            searchf = searchf + 1;        end        uav(i).Position = uav(i).tempPosition;    end    if searchf == length(uav)        tarList = [];        for i = 1:length(uav)            utargets = unique(uav(i).DestroyedTargets);            for j = 1:length(utargets)                if sum(targetResources(utargets(j),:)) > 0                    tarList = [tarList utargets(j)];                end            end        end        for i = 1:length(uav)            uav(i).DestroyedTargets = setdiff(uav(i).DestroyedTargets, tarList);            if(norm(uav(i).Position))> (sqrt(2)*l/2 + 100)                disp(i);                uav(i).Position = [0 0];            end        end    end        %% update the target list after checking out the resources    for itg = 1:length(target)        if (target(itg).releaseTime > 0)             if (t > target(itg).releaseTime)                target(itg).Resources = [target(itg).leftResources 0 0];                target(itg).allocatedTime = 0;                target(itg).estimatedHitTime = 0;                target(itg).releaseTime = 0;                targetResources(itg,1) = target(itg).leftResources;                                % remove from the uav.destroyed target list                for iuv = 1:length(uav)                    uav(iuv).DestroyedTargets = setdiff(uav(iuv).DestroyedTargets,itg);                end            end        end    end%     if t > 600%         keyboard%     end%     %Phat%targetResources(:,1)errorSum = 0;for i = 1:length(uav)    errorSum = errorSum+abs(uav(i).actualPerformance - Phat(i));end if errorSum < 0.1     if errorFlag == 0         t;     end     errorFlag = 1; else errorFlag = 0; endend