example_script.m

% psotv1
% script to test and run the PSO for swarm trajectories
clear
clf
addpath('PSO')
addpath('UAV')
addpath('SWARM')

% Save a gif with the results?
savegif = true;

% Particles count
N_Particles = 25;

% Iterations
N_Iterations = 45;

% Agent count (Physical count of robots, each particle consists of
% N_Agent agents)
N_Agents = 5;

% Starting point and Goal points moved to individual functions for clarity
Path.Start = createPathStartingPoints(N_Agents,'calesita', 0.05);
Path.Goal = createPathGoals(N_Agents, 'calesita', 0.3, 0);
axis([0 1 0 1]);
axis square
h_goals = PlotStartingPointandGoals(N_Agents, Path);

%% Initialize the Swarm and PSO
s = SWARM();
for k = 1:N_Agents
    s.AddAgent(UAV(Path.Start.state(:, k)));
end

% Initialize PSO
p = PSO(s, N_Particles, Path.Goal, @CostFcn);

%% Iterate PSO

p.Iterate();
drawnow update
%%

if savegif
    filename = 'sample-PSO-run2.gif';
end
for k = 1:N_Iterations
    p.Iterate();
    
    drawnow update
    axis([0 1 0 1])

    if savegif
        frame = getframe(1);
        im = frame2im(frame);
        [imind,cm] = rgb2ind(im,256);
        if k == 1;
            imwrite(imind,cm,filename,'gif', 'Loopcount',inf);
        else
            imwrite(imind,cm,filename,'gif','WriteMode','append');
        end
    end
end