【无人机控制】基于PRISM模型实现无人机目标搜索及避碰附matlab代码

% Get probabilities and averages of continuous-time model from collected% datafunction AverageProperties(SaveFile)% close all% clearvars -except h GlobalTime Count Run Runs SaveFile Data Agents Environment Sim% clcfprintf('Averaging properties for all runs...\n\n')% Load datasetload(SaveFile)%% BASIC PROPERTIES% Numbers of runs averagedProps.NumRuns = length(AllProps);% Average mission timeProps.AvgMissionTime = sum(cat(1,AllProps.MissionTime))/length(AllProps);% Mission success probabilityProps.MissionSuccess = sum(cat(1,AllProps.MissionOutcome))/length(AllProps);%% RUN LOOP% Initialise arraysTotalStateTimes = {};TotalStateDistances = {};TotalStateTransitions = {};TotalSystemsFault = [0 0];TotalActuatorFault = [0 0];TotalGrabberFault = [0 0];% Loop runsfor i = 1:length(AllProps)        % STATE-SPECIFIC PROPERTIES -------------------------------------------        % Loop states    for j = 1:size(AllProps(i).AvgStateTimes,1)                % Current state%         CurrentState = AllProps(i).AvgStateTimes{j,1};        CurrentState = AllProps(i).TotalStateTimes{j,1};                % Current time%         CurrentTime = AllProps(i).AvgStateTimes{j,2};        CurrentTime = AllProps(i).TotalStateTimes{j,2};                % Current total        CurrentTotal = AllProps(i).TotalStateTimes{j,3};                % Current distance%         CurrentDistance = AllProps(i).AvgStateDistance{j,2};        CurrentDistance = AllProps(i).TotalStateDistance{j,2};                % Check if current state already exists in total matrix        if isempty(TotalStateTimes) || ~ismember(CurrentState,TotalStateTimes(:,1))                        % If state doesn't exist, add it and initialise with first            % total                        TotalStateTimes{end+1,1} = CurrentState;            TotalStateTimes{end,2} = CurrentTime;%             TotalStateTimes{end,3} = 1;            TotalStateTimes{end,3} = CurrentTotal;                        TotalStateDistances{end+1,1} = CurrentState;            TotalStateDistances{end,2} = CurrentDistance;%             TotalStateDistances{end,3} = 1;            TotalStateDistances{end,3} = CurrentTotal;                    else                        % If state exists, add current value to total                        % Get index of current state in array            k = find(ismember(TotalStateTimes(:,1),CurrentState));                        % Add to counter            TotalStateTimes{k,2} = TotalStateTimes{k,2} + CurrentTime;%             TotalStateTimes{k,3} = TotalStateTimes{k,3} + 1;            TotalStateTimes{k,3} = TotalStateTimes{k,3} + CurrentTotal;                        TotalStateDistances{k,2} = TotalStateDistances{k,2} + CurrentDistance;%             TotalStateDistances{k,3} = TotalStateDistances{k,3} + 1;            TotalStateDistances{k,3} = TotalStateDistances{k,3} + CurrentTotal;                    end            end        % STATE TRANSITIONS ---------------------------------------------------        for j = 1:size(AllProps(i).StateTransitions,1)                % Current pair        CurrentPair = AllProps(i).StateTransitions(j,:);                % Check if current pair already exists in total matrix        if isempty(TotalStateTransitions) || ~any(all(ismember(TotalStateTransitions(:,1:2),CurrentPair(1:2)),2))                        % If state pair doesn't exist, add it and initialise it with            % first total                        TotalStateTransitions(end+1,:) = CurrentPair;                    else                        % If state pair exists, add current value to total            k = find(all(ismember(TotalStateTransitions(:,1:2),CurrentPair(1:2)),2));                        % Add to counter            TotalStateTransitions{k,3} = TotalStateTransitions{k,3} + CurrentPair{3};                    end            end        % AVERAGE OCCURRENCE OF FAULTS ----------------------------------------        % Systems fault    TotalSystemsFault = TotalSystemsFault...        + [sum(AllProps(i).SystemsFault) length(AllProps(i).SystemsFault)];        % Actuator fault    TotalActuatorFault = TotalActuatorFault + [AllProps(i).ActuatorFault 1];        % Grabber fault    TotalGrabberFault = TotalGrabberFault + [AllProps(i).GrabberFault 1];    end%% AVERAGE TOTALLED DATA% Get average of each state, ignoring cases where the state did not occurfor j = 1:size(TotalStateTimes,1)        Props.AvgStateTimes{j,1} = TotalStateTimes{j,1};    Props.AvgStateTimes{j,2} = TotalStateTimes{j,2}/TotalStateTimes{j,3};        Props.AvgStateDistances{j,1} = TotalStateDistances{j,1};    Props.AvgStateDistances{j,2} = TotalStateDistances{j,2}/TotalStateDistances{j,3};    end% Get average occurrences of state transitionsProbStateTransitions = TotalStateTransitions;for j = 1:size(TotalStateTransitions,1)        NextStates = TotalStateTransitions(ismember(TotalStateTransitions(:,1),TotalStateTransitions(j,1)),2);    TransOcc = TotalStateTransitions(ismember(TotalStateTransitions(:,1),TotalStateTransitions(j,1)),3);    TransOcc = sum(cat(1,TransOcc{:}));    ProbStateTransitions{j,3} = TotalStateTransitions{j,3}/sum(TransOcc);    end% Sort state transitionsProps.ProbStateTransitions = sortrows(ProbStateTransitions,1);% Average occurrence of systems faultProps.ProbSystemsFault = TotalSystemsFault(1)/TotalSystemsFault(2);% Average occurence of actuator faultProps.ProbActuatorFault = TotalActuatorFault(1)/TotalActuatorFault(2);% Average occurence of actuator faultProps.ProbGrabberFault = TotalGrabberFault(1)/TotalGrabberFault(2);%% SAVE AVERAGED DATA TO SAVE STRUCTUREsave(SaveFile,'Props','AllProps')