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蚁群算法解决路径规划问题ant.doc
/*ant.c*/
#define SPACE 0x20
#define ESC 0x1b
#define ANT_CHAR_EMPTY '+'
#define ANT_CHAR_FOOD 153
#define HOME_CHAR 'H'
#define FOOD_CHAR 'F'
#define FOOD_CHAR2 'f'
#define FOOD_HOME_COLOR 12
#define BLOCK_CHAR 177
#define MAX_ANT 50
#define INI_SPEED 3
#define MAXX 80
#define MAXY 23
#define MAX_FOOD 10000
#define TARGET_FOOD 200
#define MAX_SMELL 5000
#define SMELL_DROP_RATE 0.05
#define ANT_ERROR_RATE 0.02
#define ANT_EYESHOT 3
#define SMELL_GONE_SPEED 50
#define SMELL_GONE_RATE 0.05
#define TRACE_REMEMBER 50
#define MAX_BLOCK 100
#define NULL 0
#define UP 1
#define DOWN 2
#define LEFT 3
#define RIGHT 4
#define SMELL_TYPE_FOOD 0
#define SMELL_TYPE_HOME 1
#include "stdio.h"
#include "conio.h"
#include "dos.h"
#include "stdlib.h"
#include "dos.h"
#include "process.h"
#include "ctype.h"
#include "math.h"
void WorldInitial(void);
void BlockInitial(void);
void CreatBlock(void);
void SaveBlock(void);
void LoadBlock(void);
void HomeFoodInitial(void);
void AntInitial(void);
void WorldChange(void);
void AntMove(void);
void AntOneStep(void);
void DealKey(char key);
void ClearSmellDisp(void);
void DispSmell(int type);
int AntNextDir(int xxx,int yyy,int ddir);
int GetMaxSmell(int type,int xxx,int yyy,int ddir);
int IsTrace(int xxx,int yyy);
int MaxLocation(int num1,int num2,int num3);
int CanGo(int xxx,int yyy,int ddir);
int JudgeCanGo(int xxx,int yyy);
int TurnLeft(int ddir);
int TurnRight(int ddir);
int TurnBack(int ddir);
int MainTimer(void);
char WaitForKey(int secnum);
void DispPlayTime(void);
int TimeUse(void);
void HideCur(void);
void ResetCur(void);
/* --------------- */
struct HomeStruct
{
int xxx,yyy;
int amount;
int TargetFood;
}home;
struct FoodStruct
{
int xxx,yyy;
int amount;
}food;
struct AntStruct
{
int xxx,yyy;
int dir;
int speed;
int SpeedTimer;
int food;
int SmellAmount[2];
int tracex[TRACE_REMEMBER];
int tracey[TRACE_REMEMBER];
int TracePtr;
int IQ;
}ant[MAX_ANT];
int AntNow;
int timer10ms;
struct time starttime,endtime;
int Smell[2][MAXX+1][MAXY+1];
int block[MAXX+1][MAXY+1];
int SmellGoneTimer;
int SmellDispFlag;
int CanFindFood;
int HardtoFindPath;
/* ----- Main -------- */
void main(void)
{
char KeyPress;
int tu;
clrscr();
HideCur();
WorldInitial();
do
{
timer10ms = MainTimer();
if(timer10ms) AntMove();
if(timer10ms) WorldChange();
tu = TimeUse();
if(tu>=60&&!CanFindFood)
{
gotoxy(1,MAXY+1);
printf("Can not find food, maybe a block world.");
WaitForKey(10);
WorldInitial();
}
if(tu>=180&&home.amount<100&&!HardtoFindPath)
{
gotoxy(1,MAXY+1);
printf("God! it is so difficult to find a path.");
if(WaitForKey(10)==0x0d) WorldInitial();
else
{
HardtoFindPath = 1;
gotoxy(1,MAXY+1);
printf(" ");
}
}
if(home.amount>=home.TargetFood)
{
gettime(&endtime);
KeyPress = WaitForKey(60);
DispPlayTime();
WaitForKey(10);
WorldInitial();
}
else if(kbhit())
{
KeyPress = getch();
DealKey(KeyPress);
}
else KeyPress = NULL;
}
while(KeyPress!=ESC);
gettime(&endtime);
DispPlayTime();
WaitForKey(10);
clrscr();
ResetCur();
}
/* ------ general sub process ----------- */
int MainTimer(void)
/* output: how much 10ms have pass from last time call this process */
{
static int oldhund,oldsec;
struct time t;
int timeuse;
gettime(&t);
timeuse = 0;
if(t.ti_hund!=oldhund)
{
if(t.ti_sec!=oldsec)
{
timeuse+=100;
oldsec = t.ti_sec;
}
timeuse+=t.ti_hund-oldhund;
oldhund = t.ti_hund;
}
else timeuse = 0;
return (timeuse);
}
char WaitForKey(int secnum)
/* funtion: if have key in, exit immediately, else wait 'secnum' senconds then exit
input: secnum -- wait this senconds, must < 3600 (1 hour)
output: key char, if no key in(exit when timeout), return NULL */
{
int secin,secnow;
int minin,minnow;
int hourin,hournow;
int secuse;
struct time t;
gettime(&t);
secin = t.ti_sec;
minin = t.ti_min;
hourin = t.ti_hour;
do
{
if(kbhit()) return(getch());
gettime(&t);
secnow = t.ti_sec;
minnow = t.ti_min;
hournow = t.ti_hour;
if(hournow!=hourin) minnow+=60;
if(minnow>minin) secuse = (minnow-1-minin) + (secnow+60-secin);
else secuse = secnow - secin;
/* counting error check */
if(secuse<0)
{
gotoxy(1,MAXY+1);
printf("Time conuting error, any keyto exit...");
getch();
exit(3);
}
}
while(secuse<=secnum);
return (NULL);
}
void DispPlayTime(void)
{
int ph,pm,ps;
ph = endtime.ti_hour - starttime.ti_hour;
pm = endtime.ti_min - starttime.ti_min;
ps = endtime.ti_sec - starttime.ti_sec;
if(ph<0) ph+=24;
if(pm<0) { ph--; pm+=60; }
if(ps<0) { pm--; ps+=60; }
gotoxy(1,MAXY+1);
printf("Time use: %d hour- %d min- %d sec ",ph,pm,ps);
}
int TimeUse(void)
{
int ph,pm,ps;
gettime(&endtime);
ph = endtime.ti_hour - starttime.ti_hour;
pm = endtime.ti_min - starttime.ti_min;
ps = endtime.ti_sec - starttime.ti_sec;
if(ph<0) ph+=24;
if(pm<0) { ph--; pm+=60; }
if(ps<0) { pm--; ps+=60; }
return(ps+(60*(pm+60*ph)));
}
void HideCur(void)
{
union REGS regs0;
regs0.h.ah=1;
regs0.h.ch=0x30;
regs0.h.cl=0x31;
int86(0x10,®s0,®s0);
}
void ResetCur(void)
{
union REGS regs0;
regs0.h.ah=1;
regs0.h.ch=0x06;
regs0.h.cl=0x07;
int86(0x10,®s0,®s0);
}
/* ------------ main ANT programe ------------- */
void WorldInitial(void)
{
int k,i,j;
randomize();
clrscr();
HomeFoodInitial();
for(AntNow=0;AntNow
void BlockInitial(void)
{
int i,j;
int bn;
for(i=0;i<=MAXX;i++)
for(j=0;j<=MAXY;j++)
block[i][j] = 0;
bn = 1+ MAX_BLOCK/2 + random(MAX_BLOCK/2);
for(i=0;i<=bn;i++) CreatBlock();
}
void CreatBlock(void)
{
int x1,y1,x2,y2;
int dx,dy;
int i,j;
x1 = random(MAXX)+1;
y1 = random(MAXY)+1;
dx = random(MAXX/10)+1;
dy = random(MAXY/10)+1;
x2 = x1+dx;
y2 = y1+dy;
if(x2>MAXX) x2 = MAXX;
if(y2>MAXY) y2 = MAXY;
if(food.xxx>=x1&&food.xxx<=x2&&food.yyy>=y1&&food.yyy<=y2) return;
if(home.xxx>=x1&&home.xxx<=x2&&home.yyy>=y1&&home.yyy<=y2) return;
for(i=x1;i<=x2;i++)
for(j=y1;j<=y2;j++)
{
block[i][j] = 1;
gotoxy(i,j);
putch(BLOCK_CHAR);
}
}
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