Main code for my article: A Distributed Adaptive Route Planning Optimization Algorithm for UAV Swarm, is now under review.
Before running, a toolbox should be installed: https://github.com/mattools/matGeom
Some of the code information is as follows:
-
Drone.m
, Obstacle.m
: they are class of UAVs and obstacles, including some properties and methods;
-
H.m
, heaviside.m
: some mathematical functions;
-
insertsectCuboid.m
, insertsectCylinder.m
: to determine whether the ray intersects with a box/cylinder and return the intersection point;
-
isInCuboid.m
, isInCylinder.m
: to determine whether the drone is in an obstacle;
-
calculateF.m
: to calculate value F;
-
main_cuboid.m
, main_cylinder.m
: are the main programs, the former has a cuboid wall, while the latter has many cylinders.
-
plot_H_exp.m
, viewline.m
: some functions to plot details;
-
optimizer.m
,main_optimize.m
: used to optimize parameters in the model.