基于Matlab模拟DMD无人机控制matlab代码

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智能优化算法       神经网络预测       雷达通信       无线传感器        电力系统

信号处理              图像处理               路径规划       元胞自动机        无人机 

⛄ 内容介绍

无人机在军用、民用领域具备巨大的应用潜力,当前世界各国正在大力推进无人机的研发工作,而无人机自主控制是无人机研发中极富挑战性的关键问题。

⛄ 部分代码

function [xm,ynm,St_Data,ConstraintViolations] = RepairBestSolution(xm,ynm,St_Data)

DroneLocs = St_Data.totalDroneLocs;

m = DroneLocs;

n = St_Data.n;

gammaMax = St_Data.gammaMax;

gammaMin = St_Data.gammaMin;

realYnm = St_Data.realYnm;

UPPERTHRESHOLD = 0.99;

LOWERTHRESHOLD = 0.1;

%% Constraint 3: code to remove duplicate user connections

[~,constNum] = OnlyCheckConstraints(St_Data,ynm,xm); % Check if there are violations

if constNum(3) > 0

    AllUsersConnections = sum(ynm,2);

    UsersWithMoreConnections = find(AllUsersConnections > 1); 

    for k = 1:length(UsersWithMoreConnections)

        thisUser = UsersWithMoreConnections(k);

        currUserTotalConnections = ynm(thisUser,:);

        bbb = find(currUserTotalConnections > UPPERTHRESHOLD);

        CoverageThisUser = realYnm(thisUser,bbb) == 0;

        ynm(thisUser,bbb(CoverageThisUser)) = 0;

        if sum(ynm(thisUser,:)) > 1      

            currUserTotalConnections = ynm(thisUser,:);

            bbb = find(currUserTotalConnections > UPPERTHRESHOLD);

            [~,indx] = max(sum(ynm(:,bbb)));

            ccc = zeros(1,m);

            ccc(1,bbb(indx)) = 1;

            ynm(thisUser,:) = ccc; 

        end

    end

    xm = xm.*(sum(ynm)>0);

    ynm(:,~xm) = 0;

end

%% Constraint 5: Constraint Find under-utilized drones, UU:Under-Utilized

[~,constNum] = OnlyCheckConstraints(St_Data,ynm,xm); % Check if there are violations

if constNum(5) > 0

    DronesUtilitzation1 = sum(ynm);

    DronesUtilitzation2 = xm.*(DronesUtilitzation1 < gammaMin);

    UnderUtilizedDrones = find(DronesUtilitzation2 > 0);

    for i = 1:length(UnderUtilizedDrones) % LOOP: CHECK FOR ALL UU DRONES

        uuDrone1 = UnderUtilizedDrones(i); % Find ith UU drone

        nnDrone1 = find(ynm(:,uuDrone1) >= UPPERTHRESHOLD); % Find all connection to ith UU drone

        for j = 1:length(nnDrone1) % LOOP: CHECK FOR ALL USERS CONNECTED TO iTH UU DRONE

            user1 = nnDrone1(j); % Select jth user connected to ith UU drone

            user1PossibleConn = find(realYnm(user1,:) >= UPPERTHRESHOLD); % Find all possible connections for user1

            user1PossibleConn(user1PossibleConn == uuDrone1) = []; % Remove UU drone from the list

            [~,indx] = sort(sum(ynm(:,user1PossibleConn)),'descend');

            for k = 1:length(user1PossibleConn) % LOOP: CHECK FOR ALL POSSIBLE CONNECTIONS

                curr = user1PossibleConn(indx(k)); % Collect current possible connection option

                % Re-connect this user to some other drone on following

                % basis: (1) the user is in range of it, (2) the drone has

                % capacity to serve more users, (3) the drone is not under

                % utilized, (4) the drone is already deployed

                Flag1 = sum(ynm(:,curr))<gammaMax; % Check if the current drone has capacity

                Flag2 = sum(ynm(:,curr))>gammaMin-1; % Check if the current drone has capacity

                Flag3 = xm(curr) >= UPPERTHRESHOLD; % Check if the drone is already deployed

                if Flag1 && Flag2 && Flag3

                    ccc = zeros(1,m);

                    ccc(1,curr) = 1;

                    ynm(j,:) = ccc;

                    xm(curr) = 1;

                end

            end

        end

    end

end

%% Constraint 4: Find over-utilized drones, OU:Over-Utilized

[~,constNum] = OnlyCheckConstraints(St_Data,ynm,xm); % Check if there are violations

if constNum(4) > 0

    DronesUtilization = sum(ynm);

    OverUtilizedDrones = find(DronesUtilization > gammaMax);

    for i = 1:length(OverUtilizedDrones) % LOOP: CHECK FOR ALL OU DRONES

        ouDrone1 = OverUtilizedDrones(i); % Find ith OU drone

        totalConnections = sum(ynm(:,ouDrone1)); % Find total no. connected users

        nnDrone1 = find(ynm(:,ouDrone1) >= UPPERTHRESHOLD); % Find all connection to ith OU drone

        %uuOptions = sum(ynm(nnDrone1,:),2); % Find number of possible options for users

        OverConnections = totalConnections - gammaMax; % Find over connections

        xTemp = 0; % No. of shifted users from OU drone

        for j = 1:totalConnections % LOOP: FOR ALL OVER UTILIZED CONNECTIONS

            if xTemp < OverConnections

                curr = nnDrone1(j); % jth connected user to ith OU drone

                user1PossibleConn = find(realYnm(curr,:) >= UPPERTHRESHOLD); % Find all possible connections for jth user

                user1PossibleConn(user1PossibleConn == ouDrone1) = []; % Remove OU drone from the list

                shiftFlag = 0;

                for k = 1:length(user1PossibleConn) % LOOP: CHECK FOR ALL POSSIBLE CONNECTIONS

                    if shiftFlag == 0

                        curr = user1PossibleConn(k); % Collect current possible connection option

                        Flag1 = sum(ynm(:,curr))>=gammaMin-1; % Check if the current drone is not UU

                        Flag2 = sum(ynm(:,curr))<gammaMax; % Check if the current drone is not OU

                        Flag3 = xm(curr) >= UPPERTHRESHOLD; % Check if the drone is already deployed

                        if Flag1 && Flag2 && Flag3

                            ccc = zeros(1,m);

                            ccc(1,curr) = 1;

                            ynm(j,:) = ccc;

                            xm(curr) = 1;

                            xTemp = xTemp + 1;

                            shiftFlag = 1;

                        end

                    end

                end   

            end

        end

        %----------------------------------------------------------------

        totalConnections = sum(ynm(:,ouDrone1)); % Find total no. connected users to OU ith drone

        OverConnections = totalConnections - gammaMax; % Find over connections        

        if OverConnections > 0 % If still the ith drone is OU, simply remove extra users randomly

            nnDrone1 = find(ynm(:,ouDrone1) >= UPPERTHRESHOLD); % Find all connection to ith OU drone

            [~,Indx] = sort(sum(realYnm(nnDrone1,:)),'descend'); % sort users w.r.t. to their connection options

            SelectednnDrone1 = nnDrone1(Indx); % rearrange users order according to no. of connection options

            ynm(SelectednnDrone1(1:OverConnections),ouDrone1) = 0; % remove those extra users who would have multiple options

            xm = xm.*(sum(ynm)>0);

            ynm(:,xm <= LOWERTHRESHOLD) = 0;

        end

    end

end

%% Constraint 7: Repair coverage constraint

[~,constNum] = OnlyCheckConstraints(St_Data,ynm,xm); % Check if there are violations

if constNum(7) > 0

    for i = 1:n

        for j = 1:DroneLocs

            if ynm(i,j) > realYnm(i,j)

                currUserConOptions = find(realYnm(i,:) > 0);

                [~,indx] = sort(sum(ynm(:,currUserConOptions)),'ascend');

                for k = 1:length(currUserConOptions)

                    CurrDrone = currUserConOptions(indx(k));

                    ccc = zeros(1,m);

                    ccc(1,CurrDrone) = 1;

                    ynm(i,:) = ccc;

                    xm(CurrDrone) = 1;

                end

            end

        end

    end

end

%% Constraint 1: Connect all possible users

[~,constNum] = OnlyCheckConstraints(St_Data,ynm,xm); % Check if there are violations

if constNum(1) > 0

    unConnectedUsers = sum(ynm,2) < LOWERTHRESHOLD;

    IndexunConnectedUsers = find(unConnectedUsers >= UPPERTHRESHOLD);

    for i = 1:length(IndexunConnectedUsers)

        curr = IndexunConnectedUsers(i);

        user1PossibleConn = realYnm(curr,:) >= UPPERTHRESHOLD; % Find all possible connections for curr user

        UsersConnectedToThisDrone = sum(ynm(:,user1PossibleConn));

        [~,Sorteduser1PossibleConn] = sort(UsersConnectedToThisDrone,'descend');

        connectFlag = 0;

        for k = 1:length(Sorteduser1PossibleConn) % LOOP: CHECK FOR ALL POSSIBLE CONNECTIONS

            if connectFlag == 0

                currDrone = Sorteduser1PossibleConn(k); % Collect current possible connection option

                Flag1 = sum(ynm(:,currDrone))>=gammaMin-1; % Check if the current drone is not OU

                 Flag2 = sum(ynm(:,currDrone))<gammaMax; % Check if the current drone is not OU

%                 Flag3 = xm(currDrone) >= UPPERTHRESHOLD; % Check if the drone is already deployed

                 if Flag1 && Flag2

                    ccc = zeros(1,m);

                    ccc(1,currDrone) = 1;

                    ynm(curr,:) = ccc;

                    xm(currDrone) = 1;

                    connectFlag = 1;

                 end

            end

        end        

    end

end

%% if still there are under-utilized drones, simply remove them and

% disconnect all users

DronesUtilization = sum(ynm);

UnderUtilizedDrones = DronesUtilization < gammaMin;

ynm(:,UnderUtilizedDrones) = 0; % If there are still UU drones, simply remove them

xm(UnderUtilizedDrones) = 0;

%% Remove all the drones with beta*n more users

BetaUsers = round(St_Data.beta*n);    

AdmittedUsers = sum(sum(ynm));

ExtraUsers =  AdmittedUsers - BetaUsers;

ConnectionsToEachDrone = sum(ynm);

[~,DroneIndx] = sort(ConnectionsToEachDrone,'ascend');

for i = 1:DroneLocs

    if ExtraUsers > 0

        ThisDrone = DroneIndx(i);

        if xm(ThisDrone) > 0

            if ExtraUsers >= ConnectionsToEachDrone(ThisDrone)

                ynm(:,ThisDrone) = 0;

                xm(ThisDrone) = 0;

                ExtraUsers = ExtraUsers - ConnectionsToEachDrone(ThisDrone);

            end

        end 

    end

end

%% Connect all possible users

unConnectedUsers = sum(ynm,2) < LOWERTHRESHOLD;

IndexunConnectedUsers = find(unConnectedUsers >= UPPERTHRESHOLD);

for i = 1:length(IndexunConnectedUsers)

        curr = IndexunConnectedUsers(i);

        user1PossibleConn = find(realYnm(curr,:) >= UPPERTHRESHOLD); % Find all possible connections for curr user

        connectFlag = 0;

        for k = 1:length(user1PossibleConn) % LOOP: CHECK FOR ALL POSSIBLE CONNECTIONS

            if connectFlag == 0

                currDrone = user1PossibleConn(k); % Collect current possible connection option

                Flag1 = sum(ynm(:,currDrone))>=gammaMin-1; % Check if the current drone is not OU

                Flag2 = sum(ynm(:,currDrone))<gammaMax; % Check if the current drone is not OU

                Flag3 = xm(currDrone) >= UPPERTHRESHOLD; % Check if the drone is already deployed

                 if Flag1 && Flag2 && Flag3

                    ccc = zeros(1,m);

                    ccc(1,currDrone) = 1;

                    ynm(curr,:) = ccc;

                    xm(currDrone) = 1;

                    connectFlag = 1;

                 end

            end

        end 

end

%% Remove all the drones with beta*n more users

BetaUsers = round(St_Data.beta*n);    

AdmittedUsers = sum(sum(ynm));

ExtraUsers =  AdmittedUsers - BetaUsers;

ConnectionsToEachDrone = sum(ynm);

[~,DroneIndx] = sort(ConnectionsToEachDrone,'ascend');

for i = 1:DroneLocs

    if ExtraUsers > 0

        ThisDrone = DroneIndx(i);

        if xm(ThisDrone) > 0

            if ExtraUsers >= ConnectionsToEachDrone(ThisDrone)

                ynm(:,ThisDrone) = 0;

                xm(ThisDrone) = 0;

                ExtraUsers = ExtraUsers - ConnectionsToEachDrone(ThisDrone);

            end

        end 

    end

end

[ConstraintViolations,~] = OnlyCheckConstraints(St_Data,ynm,xm); % Check if there are violations

⛄ 运行结果

⛄ 参考文献

A. Ahmed, M. Naeem and A. Al-Dweik, "Joint Optimization of Sensors Association and UAVs Placement in IoT Applications With Practical Network Constraints," in IEEE Access, vol. 9, pp. 7674-7689, 2021, doi: 10.1109/ACCESS.2021.3049360.

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