【路径规划】基于matlab GUI多种蚁群算法栅格地图路径规划【含Matlab源码 650期】

一、简介

1 蚁群算法的提出
蚁群算法(ant colony optimization, ACO)，又称蚂蚁算法，是一种用来寻找优化路径的机率型算法。它由Marco Dorigo于1992年在他的博士论文中提出，其灵感来源于蚂蚁在寻找食物过程中发现路径的行为。遗传算法在模式识别、神经网络、机器学习、工业优化控制、自适应控制、生物科学、社会科学等方面都得到应用。
2 算法的基本原理

二、源代码

function varargout = main_GUI_xu(varargin)
% MAIN_GUI_XU MATLAB code for main_GUI_xu.fig
%      MAIN_GUI_XU, by itself, creates a new MAIN_GUI_XU or raises the existing
%      singleton*.
%
%      H = MAIN_GUI_XU returns the handle to a new MAIN_GUI_XU or the handle to
%      the existing singleton*.
%
%      MAIN_GUI_XU(‘CALLBACK‘,hObject,eventData,handles,...) calls the local
%      function named CALLBACK in MAIN_GUI_XU.M with the given input arguments.
%
%      MAIN_GUI_XU(‘Property‘,‘Value‘,...) creates a new MAIN_GUI_XU or raises the
%      existing singleton*.  Starting from the left, property value pairs are
%      applied to the GUI before main_GUI_xu_OpeningFcn gets called.  An
%      unrecognized property name or invalid value makes property application
%      stop.  All inputs are passed to main_GUI_xu_OpeningFcn via varargin.
%
%      *See GUI Options on GUIDE‘s Tools menu.  Choose "GUI allows only one
%      instance to run (singleton)".
%
% See also: GUIDE, GUIDATA, GUIHANDLES

% Edit the above text to modify the response to help main_GUI_xu

% Last Modified by GUIDE v2.5 22-Mar-2017 15:58:57

% Begin initialization code - DO NOT EDIT
gui_Singleton = 1;
gui_State = struct(‘gui_Name‘,       mfilename, ...
                   ‘gui_Singleton‘,  gui_Singleton, ...
                   ‘gui_OpeningFcn‘, @main_GUI_xu_OpeningFcn, ...
                   ‘gui_OutputFcn‘,  @main_GUI_xu_OutputFcn, ...
                   ‘gui_LayoutFcn‘,  [] , ...
                   ‘gui_Callback‘,   []);
if nargin && ischar(varargin{1})
    gui_State.gui_Callback = str2func(varargin{1});
end

if nargout
    [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});
else
    gui_mainfcn(gui_State, varargin{:});
end
% End initialization code - DO NOT EDIT


% --- Executes just before main_GUI_xu is made visible.
function main_GUI_xu_OpeningFcn(hObject, eventdata, handles, varargin)
% This function has no output args, see OutputFcn.
% hObject    handle to figure
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
% varargin   command line arguments to main_GUI_xu (see VARARGIN)

% Choose default command line output for main_GUI_xu
handles.output = hObject;

% Update handles structure
guidata(hObject, handles);

% UIWAIT makes main_GUI_xu wait for user response (see UIRESUME)
% uiwait(handles.figure1);
init_all(handles)
set(handles.edit38,‘string‘,‘先选择实验目的,默认选择目的一，即运行一种算法‘);

% --- Outputs from this function are returned to the command line.
function varargout = main_GUI_xu_OutputFcn(hObject, eventdata, handles) 
% varargout  cell array for returning output args (see VARARGOUT);
% hObject    handle to figure
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Get default command line output from handles structure
varargout{1} = handles.output;


% --- Executes on selection change in listbox1.
function listbox1_Callback(hObject, eventdata, handles)
% hObject    handle to listbox1 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: contents = cellstr(get(hObject,‘String‘)) returns listbox1 contents as cell array
%        contents{get(hObject,‘Value‘)} returns selected item from listbox1


% --- Executes during object creation, after setting all properties.
function listbox1_CreateFcn(hObject, eventdata, handles)
% hObject    handle to listbox1 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: listbox controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,‘BackgroundColor‘), get(0,‘defaultUicontrolBackgroundColor‘))
    set(hObject,‘BackgroundColor‘,‘white‘);
end


% --- Executes on button press in pushbutton1.
function pushbutton1_Callback(hObject, eventdata, handles)
% hObject    handle to pushbutton1 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% 绘制栅格线和调用figure的屏幕回调函数
global barrier pushbutton1_userdata
pushbutton1_userdata = 1; % 控制设计障碍物按钮是否能够使用
set(handles.edit38,‘string‘,‘障碍物设计完成后，请点击输出障碍物按钮，否则容易出错‘);
axes(handles.axes1)
cla reset
n_barrier = str2double(get(handles.edit1,‘string‘));
barrier = zeros(n_barrier,n_barrier);
axes(handles.axes1);
s.hf = get(handles.axes1,‘parent‘);
% 绘制栅格边线
for i=0:1:n_barrier
    plot([0,n_barrier],[i,i],‘color‘,‘k‘);
    hold on
    axis([0,n_barrier,0,n_barrier])
    for j=0:1:n_barrier
        plot([i,i],[0,n_barrier],‘color‘,‘k‘) ;
        hold on
        axis([0,n_barrier,0,n_barrier])
    end
end
% 设置figure的WindowButtonDownFcn属性
set(s.hf,‘WindowButtonDownFcn‘,@figure1_windowbuttondownfcn)


% --- Executes on selection change in popupmenu1.
function popupmenu1_Callback(hObject, eventdata, handles)
% hObject    handle to popupmenu1 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: contents = cellstr(get(hObject,‘String‘)) returns popupmenu1 contents as cell array
%        contents{get(hObject,‘Value‘)} returns selected item from popupmenu1
global barrier_select start_select goal_select pushbutton1_userdata barrier start goal
barrier_value = get(handles.popupmenu1,‘value‘);
cd(‘barrier‘)
if barrier_value==2
    barrier_select = xlsread(‘e_barrier‘);
    start_select = 20;
    goal_select = 295;
    pushbutton1_userdata = 0;
elseif barrier_value==3
    barrier_select = xlsread(‘simple_e‘);
    start_select = 20;
    goal_select = 295;
    pushbutton1_userdata = 0;
elseif barrier_value==4
    barrier_select = xlsread(‘u_barrier‘);
    start_select = 1;
    goal_select = 400;
    pushbutton1_userdata = 0;
elseif barrier_value==5
    barrier_select = xlsread(‘light_u_barrier‘);
    start_select = 1;
    goal_select = 400;
    pushbutton1_userdata = 0;
elseif barrier_value==6
    barrier_select = xlsread(‘right_u_barrier‘);
    start_select = 1;
    goal_select = 400;
    pushbutton1_userdata = 0;
elseif barrier_value==7
    barrier_select = xlsread(‘z_barrier‘);
    start_select = 49;
    goal_select = 369;
    pushbutton1_userdata = 0;
elseif barrier_value==8
    barrier_select = xlsread(‘complex_z‘);
    start_select = 47;
    goal_select = 367;
    pushbutton1_userdata = 0;
elseif barrier_value==9
    barrier_select = xlsread(‘complex_1‘);
    start_select = 1;
    goal_select = 400;
    pushbutton1_userdata = 0;
elseif barrier_value==10
    barrier_select = xlsread(‘complex_2‘);
    start_select = 1;
    goal_select = 400;
    pushbutton1_userdata = 0;
elseif barrier_value==11
    barrier_select = xlsread(‘complex_30‘);
    start_select = 1;
    goal_select = 890;
    pushbutton1_userdata = 0;
elseif barrier_value==12
    barrier_select = xlsread(‘complex_50_1‘);
    start_select = 1;
    goal_select = 2500;
elseif barrier_value==13
    barrier_select = xlsread(‘complex_50_2‘);
    start_select = 1;
    goal_select = 2500;
    pushbutton1_userdata = 0;
elseif barrier_value==14
    barrier_select = xlsread(‘complex_50_3‘);
    start_select = 1;
    goal_select = 2500;
    pushbutton1_userdata = 0;
elseif barrier_value==15
    barrier_select = xlsread(‘barrier_tmp‘);
    set(handles.edit18,‘string‘,‘请选择起点和终点‘)
    pushbutton1_userdata = 0;
    start = 0;
    goal = 0;
end

三、运行结果

四、备注

版本：2014a
完整代码或代写加1564658423