MATLAB Code of SOM Neural Network Based Method for Task Assignment

SOM_Code

MATLAB Code of SOM (self-organizing maps) Neural Network Based Method for Task Assignment of Multi-Agent Systems

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Authors: Xin Li

Email: [email protected]

Laboratory of Underwater Vehicles and Intelligent Systems

Shanghai Maritime University

close all; 

% 设置搜索范围
xmin = [0; 0];  
xmax = [50;50]; 

% 设定迭代次数
Step = 15;

% 设置AUV和目标点的参数

Dmin = 1;
count = 0;

Target=[15 15; 20 20; 10 10; 5 7; 11 17; 22 9 ]';
Robot = [6 20 11 16 18 19 20 10 8 ;6 16 17 14 11.9 19 8 16 9];
Mat = size(Target); 
TarNum = Mat(1,2);

figure,
plot(Robot(1,:),Robot(2,:),'.r','MarkerSize',10);
axis([0 30 0 30]); 
hold on
plot(Target(1,:),Target(2,:),'.g','MarkerSize',50);
hold off
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