// Check if crossover points are good
private bool GoodCrossover(int split_1_F, int split_1_M, int split_2_F, int split_2_M, EAPath Son, EAPath Daughter, bool blnTwoCommonNodes)
{
if (blnTwoCommonNodes)
{
if (ValidCrossover(split_1_F, Son, 2) // First crossover point for Son
&& ValidCrossover(split_1_F, Son, 1) // First crossover point for Son
&& ValidCrossover(split_1_M, Daughter, 2) // First crossover point for Daughter
&& ValidCrossover(split_1_M, Daughter, 1) // First crossover point for Daughter
&& ValidCrossover(split_1_F + split_2_M - split_1_M, Son, 2) // Second crossover point for Son
&& ValidCrossover(split_1_F + split_2_M - split_1_M, Son, 1) // Second crossover point for Son
&& ValidCrossover(split_1_M + split_2_F - split_1_F, Daughter, 2) // Second crossover point for Daughter
&& ValidCrossover(split_1_M + split_2_F - split_1_F, Daughter, 1)) // Second crossover point for Daughter
{
// Both crossover points are good
return true;
}
else
{
// Some crossover point is bad
return false;
}
}
else
{
if (ValidCrossover(split_1_F, Son, 2) // First crossover point for Son
&& ValidCrossover(split_1_F, Son, 1) // First crossover point for Son
&& ValidCrossover(split_1_M, Daughter, 2) // First crossover point for Daughter
&& ValidCrossover(split_1_M, Daughter, 1)) // First crossover point for Daughter
{
// First crossover is good
return true;
}
else
{
// First crossover is bad
return false;
}
}
}
// Algorithm specific implementation of the path planning
protected override void DoPathPlanning()
{
// Disabled hiararchical decision making in EA. Since EA should have plenty of time.
//if (HiararchicalSearch())
//{
// return;
//}
DateTime startTime2 = DateTime.Now;
// Generate initial population
CurGeneration = CreatePopulation();
DateTime stopTime2 = DateTime.Now;
TimeSpan duration2 = stopTime2 - startTime2;
double RunTime2 = duration2.TotalSeconds;
if (ProjectConstants.DebugMode)
{
curRequest.SetLog("CreatePopulation took " + RunTime2 + " seconds.\n");
}
// Sort based on CDF. Best at the end.
CurGeneration.Sort();
//// Debug
//CheckPathValidity(CurGeneration, "After CreatePopulation()");
// Remaining population size (e.g. 100-3=97)
PRemain = ProjectConstants.EA_Population - ProjectConstants.EA_BestToKeep;
// What's the best we have so far?
CDF = CurGeneration[CurGeneration.Count - 1].CDF;
Path = new List<Point>();
Path.AddRange(CurGeneration[CurGeneration.Count - 1].Path);
// Prepare lists to store improvements
List<double> Improvement = new List<double>();
Improvement.Add(0);
List<double> RememberCDF = new List<double>();
RememberCDF.Add(CurGeneration[CurGeneration.Count - 1].CDF);
startTime2 = DateTime.Now;
// Iterate until converge or until certain number of iterations
int count = 1;
double epsilon = 1;
while (epsilon > 0 && count < ProjectConstants.EA_Maximum_Run)
{
// If we already have the path, then no need to continue
if (Math.Abs(CDF - Efficiency_UB) < 0.001)
{
break;
}
// Create a new generation
// 0. Keep the best three to mid generation
// (First three in new generation are the best three from last generation)
NewGeneration = CurGeneration.GetRange(PRemain, ProjectConstants.EA_BestToKeep);
//// Debug
//CheckPathValidity(NewGeneration, "After Newgeneration keep best");
// 1. Select based on replace rate
SelectPopulation();
//// Debug
//CheckPathValidity(NewGeneration, "After SelectPopulation()");
// 2. Crossover based on crossover rate
Crossover();
//// Debug
//CheckPathValidity(NewGeneration, "After Crossover()");
// 3. Add best to keep to end of list and don't mutate those
for (int i = 0; i < ProjectConstants.EA_BestToKeep; i++)
{
EAPath eap = new EAPath();
eap.CDF = NewGeneration[i].CDF;
eap.DirPath.AddRange(NewGeneration[i].DirPath);
eap.Path.AddRange(NewGeneration[i].Path);
NewGeneration.Add(eap);
}
//// Debug
//CheckPathValidity(NewGeneration, "After add best 3 to end");
// 4. Mutate based on mutate rate
Mutate();
//// Debug
//CheckPathValidity(NewGeneration, "After Mutate()");
// 5. Evaluate
EvaluateFitness();
NewGeneration.Sort();
//// Debug
//CheckPathValidity(NewGeneration, "After EvaluateFitness()");
// 6. Update
CurGeneration.Clear();
CurGeneration.AddRange(NewGeneration.GetRange(NewGeneration.Count - ProjectConstants.EA_Population, ProjectConstants.EA_Population));
//// Debug
//CheckPathValidity(CurGeneration, "After generating new CurGeneration");
// 7. Remember best and record improvement
RememberCDF.Add(CurGeneration[ProjectConstants.EA_Population - 1].CDF);
Improvement.Add(CurGeneration[ProjectConstants.EA_Population - 1].CDF - CDF);
CDF = CurGeneration[ProjectConstants.EA_Population - 1].CDF;
Path = new List<Point>();
Path.AddRange(CurGeneration[ProjectConstants.EA_Population - 1].Path);
//// Debug
//CheckPathValidity(NewGeneration, "After remember best and record improvement");
if (Improvement.Count < ProjectConstants.EA_Minimum_Run)
{
epsilon = 1;
}
else
{
epsilon = 0;
for (int i = 0; i < ProjectConstants.EA_Epsilon_Run; i++)
{
epsilon += Improvement[Improvement.Count - 1 - i];
}
epsilon = epsilon / ProjectConstants.EA_Epsilon_Run;
}
//// Debug
//CheckPathValidity(NewGeneration, "After computing epsilon");
// 7. Increase counter
count++;
}
// Evolution completed...
Path = new List<Point>();
Path.AddRange(CurGeneration[CurGeneration.Count - 1].Path);
// Report how many iterations
if (ProjectConstants.DebugMode)
{
curRequest.SetLog("Algorithm ran " + count.ToString() + " iterations.\n");
}
// Record EA time
stopTime2 = DateTime.Now;
duration2 = stopTime2 - startTime2;
RunTime2 = duration2.TotalSeconds;
if (ProjectConstants.DebugMode)
{
curRequest.SetLog("EA took " + RunTime2 + " seconds.\n");
// Print out improvement log
curRequest.SetLog("Improvement: \n");
for (int i = 0; i < Improvement.Count; i++)
{
curRequest.SetLog(Improvement[i].ToString() + " ");
}
curRequest.SetLog("\n");
}
// Cleaning up
Improvement.Clear();
Improvement = null;
}
// Function to actually generate seeds of various algorithms
private bool GenerateSeeds(List<EAPath> AllPaths, PathPlanningRequest newRequest, AlgPathPlanning myAlg, int count)
{
for (int i = 0; i < count; i++)
{
switch (newRequest.AlgToUse)
{
case AlgType.CC:
myAlg = new AlgCC(newRequest, mDist, mDiff, Efficiency_UB);
break;
case AlgType.LHCGWCONV:
myAlg = new AlgGlobalWarming(newRequest, ModeCount, mDist, mDiff, Efficiency_UB);
break;
case AlgType.LHCGWPF:
myAlg = new AlgGlobalWarming(newRequest, ModeCount, mDist, mDiff, Efficiency_UB);
break;
case AlgType.LHCRandom:
myAlg = new AlgLHCRandom(newRequest, mDist, mDiff, Efficiency_UB);
break;
case AlgType.Random:
myAlg = new AlgRandom(newRequest, mDist, mDiff, Efficiency_UB);
break;
case AlgType.TopTwoH:
myAlg = new AlgTopTwo(newRequest, ModeCount, mModes, mDist, mDiff, Efficiency_UB);
break;
case AlgType.TopNH:
myAlg = new AlgTopTwo(newRequest, ModeCount, mModes, mDist, mDiff, Efficiency_UB);
break;
default:
break;
}
DateTime startTime2 = DateTime.Now;
myAlg.PlanPath();
DateTime stopTime2 = DateTime.Now;
TimeSpan duration2 = stopTime2 - startTime2;
double RunTime2 = duration2.TotalSeconds;
if (ProjectConstants.DebugMode)
{
curRequest.SetLog("Algorithm " + newRequest.AlgToUse + " took " + RunTime2 + " seconds.\n");
}
EAPath eap = new EAPath();
eap.CDF = myAlg.GetCDF();
eap.Path.AddRange(myAlg.GetPath());
myAlg = null;
// Add EAPath to population
AllPaths.Add(eap);
// If we already have the best path, then no need to continue
CDF = eap.CDF;
Path = eap.Path;
if (Math.Abs(CDF - Efficiency_UB) < 0.001)
{
return true;
}
}
return false;
}
// Dobule Point Crossover
private void DoublePointCrossover(int split_1_F, int split_1_M, List<Point> Father, List<Point> Mother, int split_2_F, int split_2_M, EAPath Son, EAPath Daughter)
{
Son.Path.AddRange(Father.GetRange(0, split_1_F));
Son.Path.AddRange(Mother.GetRange(split_1_M, split_2_M - split_1_M));
Son.Path.AddRange(Father.GetRange(split_2_F, Father.Count() - split_2_F));
Daughter.Path.AddRange(Mother.GetRange(0, split_1_M));
Daughter.Path.AddRange(Father.GetRange(split_1_F, split_2_F - split_1_F));
Daughter.Path.AddRange(Mother.GetRange(split_2_M, Mother.Count() - split_2_M));
}
// Crossover based on replacement rate
private void Crossover()
{
// Generate remaining quota of the population by crossover (Divide by 2 because I am generating 2 children each time)
for (int k = 0; k < Convert.ToInt16(ProjectConstants.EA_ReplacementRate * ProjectConstants.EA_Population / 2); k++)
{
// Find father and good mother
int split_1_F, split_1_M;
List<Point> Father, Mother;
if (!FindFatherMother(out split_1_F, out split_1_M, out Father, out Mother))
{
// Cleaning up
Father = null;
Mother = null;
// Did not find a good Mother
k--;
continue;
}
// Found a good mother that has the node
// See if father and mother have second common node
// And perform crossover
int split_2_F = -1;
int split_2_M = -1;
EAPath Son = new EAPath();
EAPath Daughter = new EAPath();
bool blnTwoCommonNodes = FindSecondCommonNode(split_1_F, split_1_M, Father, Mother, ref split_2_F, ref split_2_M);
if (blnTwoCommonNodes)
{
DoublePointCrossover(split_1_F, split_1_M, Father, Mother, split_2_F, split_2_M, Son, Daughter);
}
else
{
SinglePointCrossover(split_1_F, split_1_M, Father, Mother, Son, Daughter);
}
// Make sure there's no flying backward for non-copter
if (curRequest.VehicleType != UAVType.Copter)
{
bool blnGoodCrossover = GoodCrossover(split_1_F, split_1_M, split_2_F, split_2_M, Son, Daughter, blnTwoCommonNodes);
if (!blnGoodCrossover)
{
// Cleaning up
Father = null;
Mother = null;
Son = null;
Daughter = null;
// Try again
k--;
continue;
}
}
// Make sure they still fly all the way.
// Now both children are valid paths, let's truncate or extend so they all have length T+1;
// After crossover, if Son or Daughter becomes too long, truncate
EAPath ShorterPath = new EAPath();
EAPath LongerPath = new EAPath();
TruncateLongerPath(Son, Daughter, ref ShorterPath, ref LongerPath);
if (LongerPath.Path.Count == 0)
{
// Both Son and Daughter have right length. Move on!
NewGeneration.Add(Son);
NewGeneration.Add(Daughter);
continue;
}
// After crossover, if Son or Daughter becomes too short,
// probablistically randomly pick another path and crossover again.
// This time only keep the longer one and then truncate.
EAPath OldLongerPath = LongerPath;
int index1 = -1;
Father = ShorterPath.Path;
if (!FindMother(index1, Father, out split_1_F, out split_1_M, out Mother))
{
// Cleaning up
Father = null;
Mother = null;
// Did not find a good Mother
k--;
continue;
}
// Found a good mother that has the node
Son = new EAPath();
Daughter = new EAPath();
SinglePointCrossover(split_1_F, split_1_M, Father, Mother, Son, Daughter);
bool blnSonLonger = TruncateLongerPath(Son, Daughter, ref ShorterPath, ref LongerPath);
EAPath NewLongerPath = LongerPath;
// Make sure there's no flying backward for non-copter
if (curRequest.VehicleType != UAVType.Copter)
{
// Only worry about LongerPath
if (!blnSonLonger)
{
split_1_F = split_1_M;
Son = Daughter;
}
bool blnGoodCrossover = GoodCrossover(split_1_F, split_1_F, 0, 0, Son, Son, false);
if (!blnGoodCrossover)
{
// Cleaning up
Father = null;
Mother = null;
Son = null;
Daughter = null;
LongerPath = null;
ShorterPath = null;
OldLongerPath = null;
NewLongerPath = null;
// Try again
k--;
continue;
}
}
// Add new paths to new generation
NewGeneration.Add(OldLongerPath);
NewGeneration.Add(NewLongerPath);
// Cleaning up
Father = null;
Mother = null;
Son = null;
Daughter = null;
LongerPath = null;
ShorterPath = null;
OldLongerPath = null;
NewLongerPath = null;
}
}
// Simply create n copies to save time.
private static void CreateEAPathCopies(List<EAPath> AllPaths, int n)
{
for (int i = 0; i < n; i++)
{
// Create new EAPath
EAPath eap = new EAPath();
eap.CDF = AllPaths[AllPaths.Count - 1].CDF;
eap.Path.AddRange(AllPaths[AllPaths.Count - 1].Path);
// Add EAPath to population
AllPaths.Add(eap);
}
}
// Check if the crossover is valid for non-copter (no flying backwards)
private bool ValidCrossover(int split_point, EAPath Son, int i)
{
if (split_point != -1 && Son.Path.Count - 1 > split_point && split_point > 1)
{
if (!ValidMove(Son.Path[split_point - i], Son.Path[split_point - i + 1], Son.Path[split_point - i + 2]))
{
return false;
}
}
return true;
}
// Truncate longer path and identify who is who
private bool TruncateLongerPath(EAPath Son, EAPath Daughter, ref EAPath ShorterPath, ref EAPath LongerPath)
{
if (Son.Path.Count > curRequest.T + 1)
{
Son.Path.RemoveRange(curRequest.T + 1, Son.Path.Count - (curRequest.T + 1));
LongerPath = Son;
ShorterPath = Daughter;
return true;
}
if (Daughter.Path.Count > curRequest.T + 1)
{
Daughter.Path.RemoveRange(curRequest.T + 1, Daughter.Path.Count - (curRequest.T + 1));
LongerPath = Daughter;
ShorterPath = Son;
return false;
}
return true;
}
