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exp_UAV.m
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exp_UAV.m
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%clear;
%clc;
%close all;
rng default
rng(11)
addpath(genpath(pwd));
%%
epoch = 1; % set MPUAV case index , epoch 1 is 1-6 , epoch 2 is 7-12
if epoch == 1
data_seed = 12;
RS=[9 9 9 9 9 9];
else
data_seed = 121314;
RS=[30 30 30 30 30 30];
end
data_2();
data.alpha_trace = 60/360*(2*pi); % ?????
data.beta_trace = 45/360*(2*pi); % ??????
data.map_size=map_size;
data.P_crash = 3.42 * 10e-4; % ??????
data.S_hit=0.0188; % m^2 ??????
data.R_I = 0.3; % ???????
data.R_vf = 0.27; % ????????
data.alpha=10^6; % J ????????
data.beta = 100; % J
data.S_c = 0.5 ; % ??????
data.g = 9.8 ; % m/s^2
data.IOT_pos=IOT_pos;
data.m = 1380 ; % g (DJI Phantom4)
data.rou_a = 1225 ; % g/m^3(???????)
data.miu = miu; % ?????????
data.sigma = sigma; % ?????????
data.v = 20; % 20m/s
S=[1 1];E=[45 45]; % ??????
data.S = S;
data.E = E;
data.minh=bulid_xyz;
data.maxh=141;
Bound = E(1)-S(1);
dim = Bound*2;
data.Bound = Bound;
data.map_step=map_step;
data.populations_risk=populations_risk;
data.road_risk=road_risk;
PLOTHV = 1;
PLOTStep = 1;
if exist('HVidealpoint.mat','file')
load HVidealpoint.mat
dir HVidealpoint.mat
saveflag = 0;
else
HVidealpointlist=[];
saveflag = 1;
PLOTHV = 0;
end
GLOBAL
%% pre-cal
ystep = 3;
pbase = ystep+1;
for i = 1:2*ystep+1
pi = i - pbase;
can=[];
for j = -ystep:1:ystep
if acos([1,pi]*[1,j]'/sqrt(1+pi^2)/sqrt(1+(j)^2))<=data.alpha_trace
can=[can j];
end
end
canselect{i}=can;
end
data.canselect = canselect;
data.canselectp = pbase;
%%
tiledlayout(2,2);
count=0;strcell={'(a)','(b)','(c)','(d)'};
for h = 30:30:120
count=count+1;
nexttile;
Risk_map = zeros(map_size);
Riskproperty_map = zeros(map_size);
for i=1:map_size(1)
for j =1:map_size(2)
Risk_map(i,j)=Risk_map(i,j)+getC_Risk(getR_pf(getV(h,data),data),populations_risk(i,j),data);
Risk_map(i,j)=Risk_map(i,j)+getC_Risk(data.R_vf,road_risk(i,j),data);
end
end
colormap('jet')
contourf(Risk_map)
colorbar;
title([strcell{count} ' At an altitude of ' num2str(h) 'm'],'Position',[26,-12]);
end
%%
problemList={@MPUAV3,@MPUAV2,@MPUAV3,@MPUAV4,@MPUAV5,@MPUAV6};
maxiterList={100000,100000,100000,100000,100000,100000};
data.lb = [ones(1,dim/2-1).*-2 ones(1,dim/2+1).*0];
data.ub = [ones(1,dim/2-1).*ystep ones(1,dim/2+1).*1];
data.dim = dim;
figure(100);
for problemindex=1:numel(problemList)
RANDSEED=RS(problemindex);
popnum=105;
maxiter=maxiterList{problemindex};
problem=problemList{problemindex};
newp=problem(data);
funname = newp.Global.funname;
callfit = newp.Global.fn;
%% NSGA2
rng default;rng(RANDSEED);
test_case={@MPIA,problem,popnum,1,1,maxiter,dim};
for i =1:numel(test_case)/7
if ~PLOTHV
var={'-algorithm',test_case{i,1},'-problem',test_case{i,2},'-N',test_case{i,3},'-save',test_case{i,4},'-run',test_case{i,5},'-evaluation',test_case{i,6},'-D',test_case{i,7},'-data',data};
else
var={'-algorithm',test_case{i,1},'-problem',test_case{i,2},'-N',test_case{i,3},'-save',test_case{i,4},'-run',test_case{i,5},'-evaluation',test_case{i,6},'-D',test_case{i,7},'-data',data,'-calHV',1,'-calHVidealpoint',HVidealpointlist(problemindex,:)};
end
Global = GLOBAL(var{:});
Global.Start();
end
if PLOTHV
axis tight
figure(101)
subplot(2,3,problemindex)
hold on
plot(Global.HVrecorder(1:PLOTStep:end,1),Global.HVrecorder(1:PLOTStep:end,2));
xlabel('FE')
ylabel('sumHV')
end
Population = MPSELECT(Global.result{2},popnum,2);
[Population2,FrontNo,~] = NDSELECT(Global.result{2},popnum);
Population2=Population2(FrontNo==1);
res_nsga.dec=reshape([Population.dec],dim,[])';
res_nsga.obj=reshape([Population.obj],numel(funname),[])';
res_nsga2.dec=reshape([Population2.dec],dim,[])';
res_nsga2.obj=reshape([Population2.obj],numel(funname),[])';
%%
figure()
title('OptAll')
subplot(1,2,1)
hold on
if numel(funname)==4
plot(res_nsga2.obj(:,1),res_nsga2.obj(:,2),'MarkerFaceColor','#9FB7A0','Marker','o','LineStyle','none');
plot(res_nsga.obj(:,1),res_nsga.obj(:,2),'MarkerFaceColor','black','Marker','p','LineStyle','none');
xlabel(funname{1},'FontSize',15)
ylabel(funname{2},'FontSize',15)
h=legend({'Non-common Pareto','Common Solutions'});
set(h,'FontName','Times New Roman','FontSize',10)
title('NSGA-II(Eff)','FontSize',15)
subplot(1,2,2)
hold on
plot(res_nsga2.obj(:,3),res_nsga2.obj(:,4),'MarkerFaceColor','#9FB7A0','Marker','o','LineStyle','none');
plot(res_nsga.obj(:,3),res_nsga.obj(:,4),'MarkerFaceColor','black','Marker','p','LineStyle','none');
title('NSGA-II(Safety)','FontSize',15)
xlabel(funname{3},'FontSize',15)
ylabel(funname{4},'FontSize',15)
set(h,'FontName','Times New Roman','FontSize',10)
else
plot3(res_nsga.obj(:,1),res_nsga.obj(:,2),res_nsga.obj(:,3),'MarkerFaceColor','#874526','Marker','s','LineStyle','none');
plot3(res_nsga2.obj(:,1),res_nsga2.obj(:,2),res_nsga2.obj(:,3),'MarkerFaceColor','#9FB7A0','Marker','o','LineStyle','none');
xlabel(funname{1},'FontSize',15)
ylabel(funname{2},'FontSize',15)
zlabel(funname{3},'FontSize',15)
h=legend({'Non-common Pareto Solutions','Common Pareto Solutions'});
set(h,'FontName','Times New Roman','FontSize',15)
title('OptALL\_Part1(Efficiency)','FontSize',15)
subplot(1,2,2)
hold on
plot3(res_nsga.obj(:,4),res_nsga.obj(:,5),res_nsga.obj(:,6),'MarkerFaceColor','#874526','Marker','s','LineStyle','none');
plot3(res_nsga2.obj(:,4),res_nsga2.obj(:,5),res_nsga2.obj(:,6),'MarkerFaceColor','#9FB7A0','Marker','o','LineStyle','none');
title('OptALL\_Part2(Safety)','FontSize',15)
xlabel(funname{4},'FontSize',15)
ylabel(funname{5},'FontSize',15)
zlabel(funname{6},'FontSize',15)
h=legend({'Common Pareto Solutions','Non-Common Pareto Solutions'});
set(h,'FontName','Times New Roman','FontSize',15)
end
%% MPNDS
rng default;rng(RANDSEED);
test_case={@OptMPNDS,problem,popnum,1,1,maxiter,dim};
for i =1:numel(test_case)/7
if ~PLOTHV
var={'-algorithm',test_case{i,1},'-problem',test_case{i,2},'-N',test_case{i,3},'-save',test_case{i,4},'-run',test_case{i,5},'-evaluation',test_case{i,6},'-D',test_case{i,7},'-data',data};
else
var={'-algorithm',test_case{i,1},'-problem',test_case{i,2},'-N',test_case{i,3},'-save',test_case{i,4},'-run',test_case{i,5},'-evaluation',test_case{i,6},'-D',test_case{i,7},'-data',data,'-calHV',1,'-calHVidealpoint',HVidealpointlist(problemindex,:)};
end
Global = GLOBAL(var{:});
Global.Start();
end
if PLOTHV
axis tight
figure(101)
subplot(2,3,problemindex)
hold on
plot(Global.HVrecorder(1:PLOTStep:end,1),Global.HVrecorder(1:PLOTStep:end,2));
xlabel('FE')
ylabel('meanHV')
end
Population= MPSELECT(Global.result{2},popnum,2);
res_mpnds.dec=reshape([Population.dec],dim,[])';
res_mpnds.obj=reshape([Population.obj],numel(funname),[])';
%%
figure()
subplot(1,2,1)
if numel(funname)==4
plot(res_mpnds.obj(:,1),res_mpnds.obj(:,2),'MarkerFaceColor','#874526','Marker','s','LineStyle','none');
xlabel(funname{1},'FontSize',15)
ylabel(funname{2},'FontSize',15)
title('OptMPNDS\_Part1(efficiency)')
h=legend({'Multiparty Pareto Optimality'},'Location','north');
set(h,'FontName','Times New Roman','FontSize',15)
subplot(1,2,2)
plot(res_mpnds.obj(:,3),res_mpnds.obj(:,4),'MarkerFaceColor','#874526','Marker','s','LineStyle','none');
xlabel(funname{3},'FontSize',15)
ylabel(funname{4},'FontSize',15)
title('OptMPNDS\_Part2(safety)')
else
plot3(res_mpnds.obj(:,1),res_mpnds.obj(:,2),res_mpnds.obj(:,3),'MarkerFaceColor','#874526','Marker','s','LineStyle','none');
xlabel(funname{1},'FontSize',15)
ylabel(funname{2},'FontSize',15)
zlabel(funname{3},'FontSize',15)
title('OptMPNDS\_Part1(efficiency)')
h=legend({'Multiparty Pareto Optimality'},'Location','north');
set(h,'FontName','Times New Roman','FontSize',15)
subplot(1,2,2)
plot3(res_mpnds.obj(:,4),res_mpnds.obj(:,5),res_mpnds.obj(:,6),'MarkerFaceColor','#874526','Marker','s','LineStyle','none');
xlabel(funname{4},'FontSize',15)
ylabel(funname{5},'FontSize',15)
zlabel(funname{6},'FontSize',15)
title('OptMPNDS\_Part2(safety)')
end
h=legend({'Multiparty Pareto Optimality'},'Location','north');
set(h,'FontName','Times New Roman','FontSize',15)
%% MPNDS2
rng default;rng(RANDSEED);
test_case={@OptMPNDS2,problem,popnum,1,1,maxiter,dim};
for i =1:numel(test_case)/7
if ~PLOTHV
var={'-algorithm',test_case{i,1},'-problem',test_case{i,2},'-N',test_case{i,3},'-save',test_case{i,4},'-run',test_case{i,5},'-evaluation',test_case{i,6},'-D',test_case{i,7},'-data',data};
else
var={'-algorithm',test_case{i,1},'-problem',test_case{i,2},'-N',test_case{i,3},'-save',test_case{i,4},'-run',test_case{i,5},'-evaluation',test_case{i,6},'-D',test_case{i,7},'-data',data,'-calHV',1,'-calHVidealpoint',HVidealpointlist(problemindex,:)};
end
Global = GLOBAL(var{:});
Global.Start();
end
if PLOTHV
axis tight
figure(101)
subplot(2,3,problemindex)
hold on
plot(Global.HVrecorder(1:PLOTStep:end,1),Global.HVrecorder(1:PLOTStep:end,2));
xlabel('FE')
ylabel('sumHV')
end
Population= MPSELECT(Global.result{2},popnum,2);
res_mpnds2.dec=reshape([Population.dec],dim,[])';
res_mpnds2.obj=reshape([Population.obj],numel(funname),[])';
%%
figure()
subplot(1,2,1)
if numel(funname)==4
plot(res_mpnds2.obj(:,1),res_mpnds2.obj(:,2),'MarkerFaceColor','#874526','Marker','s','LineStyle','none');
xlabel(funname{1},'FontSize',15)
ylabel(funname{2},'FontSize',15)
title('OptMPNDS2\_Part1(efficiency)')
h=legend({'Multiparty Pareto Optimality'},'Location','north');
set(h,'FontName','Times New Roman','FontSize',15)
subplot(1,2,2)
plot(res_mpnds2.obj(:,3),res_mpnds2.obj(:,4),'MarkerFaceColor','#874526','Marker','s','LineStyle','none');
xlabel(funname{3},'FontSize',15)
ylabel(funname{4},'FontSize',15)
title('OptMPNDS2\_Part2(safety)')
else
plot3(res_mpnds2.obj(:,1),res_mpnds2.obj(:,2),res_mpnds2.obj(:,3),'MarkerFaceColor','#874526','Marker','s','LineStyle','none');
xlabel(funname{1},'FontSize',15)
ylabel(funname{2},'FontSize',15)
zlabel(funname{3},'FontSize',15)
title('OptMPNDS2\_Part1(efficiency)')
h=legend({'Multiparty Pareto Optimality'},'Location','north');
set(h,'FontName','Times New Roman','FontSize',15)
subplot(1,2,2)
plot3(res_mpnds2.obj(:,4),res_mpnds2.obj(:,5),res_mpnds2.obj(:,6),'MarkerFaceColor','#874526','Marker','s','LineStyle','none');
xlabel(funname{4},'FontSize',15)
ylabel(funname{5},'FontSize',15)
zlabel(funname{6},'FontSize',15)
title('OptMPNDS2\_Part2(safety)')
end
legend({'Multiparty Pareto Optimality'},'Location','north')
%% MPNNIA
rng default;rng(RANDSEED);
test_case={@MPNNIA,problem,popnum,1,1,maxiter,dim};
for i =1:numel(test_case)/7
if ~PLOTHV
var={'-algorithm',test_case{i,1},'-problem',test_case{i,2},'-N',test_case{i,3},'-save',test_case{i,4},'-run',test_case{i,5},'-evaluation',test_case{i,6},'-D',test_case{i,7},'-data',data};
else
var={'-algorithm',test_case{i,1},'-problem',test_case{i,2},'-N',test_case{i,3},'-save',test_case{i,4},'-run',test_case{i,5},'-evaluation',test_case{i,6},'-D',test_case{i,7},'-data',data,'-calHV',1,'-calHVidealpoint',HVidealpointlist(problemindex,:)};
end
Global = GLOBAL(var{:});
Global.Start();
end
if PLOTHV
axis tight
figure(101)
subplot(2,3,problemindex)
hold on
plot(Global.HVrecorder(1:PLOTStep:end,1),Global.HVrecorder(1:PLOTStep:end,2));
xlabel('FE')
ylabel('sumHV')
end
Population= MPSELECT(Global.result{2},popnum,2);
MPNNIA.dec=reshape([Population.dec],dim,[])';
MPNNIA.obj=reshape([Population.obj],numel(funname),[])';
figure()
subplot(1,2,1)
if numel(funname)==4
plot(MPNNIA.obj(:,1),MPNNIA.obj(:,2),'MarkerFaceColor','#874526','Marker','s','LineStyle','none');
xlabel(funname{1},'FontSize',15)
ylabel(funname{2},'FontSize',15)
title('MPNNIA\_Part1(efficiency)')
h=legend({'Multiparty Pareto Optimality'},'Location','north');
set(h,'FontName','Times New Roman','FontSize',15)
subplot(1,2,2)
plot(MPNNIA.obj(:,3),MPNNIA.obj(:,4),'MarkerFaceColor','#874526','Marker','s','LineStyle','none');
xlabel(funname{3},'FontSize',15)
ylabel(funname{4},'FontSize',15)
title('MPNNIA\_Part2(safety)')
else
plot3(MPNNIA.obj(:,1),MPNNIA.obj(:,2),MPNNIA.obj(:,3),'MarkerFaceColor','#874526','Marker','s','LineStyle','none');
xlabel(funname{1},'FontSize',15)
ylabel(funname{2},'FontSize',15)
zlabel(funname{3},'FontSize',15)
title('MPNNIA\_Part1(efficiency)')
h=legend({'Multiparty Pareto Optimality'},'Location','north');
set(h,'FontName','Times New Roman','FontSize',15)
subplot(1,2,2)
plot3(MPNNIA.obj(:,4),MPNNIA.obj(:,5),MPNNIA.obj(:,6),'MarkerFaceColor','#874526','Marker','s','LineStyle','none');
xlabel(funname{4},'FontSize',15)
ylabel(funname{5},'FontSize',15)
zlabel(funname{6},'FontSize',15)
title('OptMPNDS\_Part2(safety)')
end
legend({'Multiparty Pareto Optimality'},'Location','north')
%% MPHEIA
rng default;rng(RANDSEED);
test_case={@MPHEIA,problem,popnum,1,1,maxiter,dim};
for i =1:numel(test_case)/7
if ~PLOTHV
var={'-algorithm',test_case{i,1},'-problem',test_case{i,2},'-N',test_case{i,3},'-save',test_case{i,4},'-run',test_case{i,5},'-evaluation',test_case{i,6},'-D',test_case{i,7},'-data',data};
else
var={'-algorithm',test_case{i,1},'-problem',test_case{i,2},'-N',test_case{i,3},'-save',test_case{i,4},'-run',test_case{i,5},'-evaluation',test_case{i,6},'-D',test_case{i,7},'-data',data,'-calHV',1,'-calHVidealpoint',HVidealpointlist(problemindex,:)};
end
Global = GLOBAL(var{:});
Global.Start();
end
if PLOTHV
axis tight
figure(101)
subplot(2,3,problemindex)
hold on
plot(Global.HVrecorder(1:PLOTStep:end,1),Global.HVrecorder(1:PLOTStep:end,2));
xlabel('FE')
ylabel('sumHV')
end
Population= MPSELECT(Global.result{2},100,2);
MPHEIA.dec=reshape([Population.dec],dim,[])';
MPHEIA.obj=reshape([Population.obj],numel(funname),[])';
figure()
subplot(1,2,1)
if numel(funname)==4
plot(MPHEIA.obj(:,1),MPHEIA.obj(:,2),'MarkerFaceColor','#874526','Marker','s','LineStyle','none');
xlabel(funname{1},'FontSize',15)
ylabel(funname{2},'FontSize',15)
title('MPHEIA\_Part1(efficiency)')
h=legend({'Multiparty Pareto Optimality'},'Location','north');
set(h,'FontName','Times New Roman','FontSize',15)
subplot(1,2,2)
plot(MPHEIA.obj(:,3),MPHEIA.obj(:,4),'MarkerFaceColor','#874526','Marker','s','LineStyle','none');
xlabel(funname{3},'FontSize',15)
ylabel(funname{4},'FontSize',15)
title('MPHEIA\_Part2(safety)')
else
plot3(MPHEIA.obj(:,1),MPHEIA.obj(:,2),MPHEIA.obj(:,3),'MarkerFaceColor','#874526','Marker','s','LineStyle','none');
xlabel(funname{1},'FontSize',15)
ylabel(funname{2},'FontSize',15)
zlabel(funname{3},'FontSize',15)
title('MPHEIA\_Part1(efficiency)')
h=legend({'Multiparty Pareto Optimality'},'Location','north');
set(h,'FontName','Times New Roman','FontSize',15)
subplot(1,2,2)
plot3(MPHEIA.obj(:,4),MPHEIA.obj(:,5),MPHEIA.obj(:,6),'MarkerFaceColor','#874526','Marker','s','LineStyle','none');
xlabel(funname{4},'FontSize',15)
ylabel(funname{5},'FontSize',15)
zlabel(funname{6},'FontSize',15)
title('MPHEIA\_Part2(safety)')
end
legend({'Multiparty Pareto Optimality'},'Location','north')
%% MPAIMA
rng default;rng(RANDSEED);
test_case={@MPAIMA,problem,popnum,1,1,maxiter,dim};
for i =1:numel(test_case)/7
if ~PLOTHV
var={'-algorithm',test_case{i,1},'-problem',test_case{i,2},'-N',test_case{i,3},'-save',test_case{i,4},'-run',test_case{i,5},'-evaluation',test_case{i,6},'-D',test_case{i,7},'-data',data};
else
var={'-algorithm',test_case{i,1},'-problem',test_case{i,2},'-N',test_case{i,3},'-save',test_case{i,4},'-run',test_case{i,5},'-evaluation',test_case{i,6},'-D',test_case{i,7},'-data',data,'-calHV',1,'-calHVidealpoint',HVidealpointlist(problemindex,:)};
end
Global = GLOBAL(var{:});
Global.Start();
end
if PLOTHV
axis tight
figure(101)
subplot(2,3,problemindex)
hold on
plot(Global.HVrecorder(1:PLOTStep:end,1),Global.HVrecorder(1:PLOTStep:end,2));
xlabel('FE')
ylabel('sumHV')
end
Population= MPSELECT(Global.result{2},popnum,2);
MPAIMA.dec=reshape([Population.dec],dim,[])';
MPAIMA.obj=reshape([Population.obj],numel(funname),[])';
%% MPIA
rng default;rng(RANDSEED);
test_case={@MPIA2,problem,popnum,1,1,maxiter,dim};
for i =1:numel(test_case)/7
if ~PLOTHV
var={'-algorithm',test_case{i,1},'-problem',test_case{i,2},'-N',test_case{i,3},'-save',test_case{i,4},'-run',test_case{i,5},'-evaluation',test_case{i,6},'-D',test_case{i,7},'-data',data};
else
var={'-algorithm',test_case{i,1},'-problem',test_case{i,2},'-N',test_case{i,3},'-save',test_case{i,4},'-run',test_case{i,5},'-evaluation',test_case{i,6},'-D',test_case{i,7},'-data',data,'-calHV',1,'-calHVidealpoint',HVidealpointlist(problemindex,:)};
end
Global = GLOBAL(var{:});
Global.Start();
end
if PLOTHV
axis tight
figure(101)
subplot(2,3,problemindex)
hold on
plot(Global.HVrecorder(1:PLOTStep:end,1),Global.HVrecorder(1:PLOTStep:end,2));
xlabel('FE')
ylabel('sumHV')
end
Population= MPSELECT(Global.result{2},popnum,2);
MPIA.dec=reshape([Population.dec],dim,[])';
MPIA.obj=reshape([Population.obj],numel(funname),[])';
figure()
subplot(1,2,1)
t=Global.result{2}.objs;
plot(t(:,1),t(:,2),'MarkerFaceColor','#9FB7A0','Marker','o','LineStyle','none');
hold on
plot(MPIA.obj(:,1),MPIA.obj(:,2),'MarkerFaceColor','black','Marker','p','LineStyle','none');
hold on
title('MPIA(Eff)','FontSize',15)
xlabel(funname{1},'FontSize',15)
ylabel(funname{2},'FontSize',15)
set(h,'FontName','Times New Roman','FontSize',10)
subplot(1,2,2)
plot(t(:,3),t(:,4),'MarkerFaceColor','#9FB7A0','Marker','o','LineStyle','none');
hold on
plot(MPIA.obj(:,3),MPIA.obj(:,4),'MarkerFaceColor','black','Marker','p','LineStyle','none');
title('MPIA(Eff)','FontSize',15)
xlabel(funname{3},'FontSize',15)
ylabel(funname{4},'FontSize',15)
h=legend({'Non-common Pareto Solutions','Common Pareto Solutions'});
set(h,'FontName','Times New Roman','FontSize',10)
%%
[~,mi] = min(MPIA.obj(:,1));
[~,mi2] = min(MPIA.obj(:,2));
mi3 = randi(size(MPIA.obj,1)) ; mi4 = randi(size(MPIA.obj,1));
t={};
[f,t{1}] = callfit(MPIA.dec(mi,:),data);
[f,t{2}] = callfit(MPIA.dec(mi2,:),data);
[f,t{2}] = callfit(MPIA.dec(mi3,:),data);
[f,t{3}] = callfit(MPIA.dec(mi4,:),data);
plotres(bulid_xyz,bulid_height,t,'MPGIA UAV Trace',Risk_map)
plot3(IOT_pos(:,1),IOT_pos(:,2),IOT_pos(:,3).*100,'blueo','MarkerFaceColor','black','MarkerSize',10)
for i = 1:numel(t)
plot3(data.S(1),data.S(2),t{i}(find(t{i}(:,1)==data.S(1)),3),'redp','MarkerFaceColor','red','MarkerSize',10);
plot3(data.E(1),data.E(2),t{i}(find(t{i}(:,1)==data.E(1)),3),'redp','MarkerFaceColor','red','MarkerSize',10);
plot3(t{i}(IOT_pos(:,1),1),t{i}(IOT_pos(:,1),2),t{i}(IOT_pos(:,1),3),'reds','MarkerFaceColor','red','MarkerSize',10)
end
%
figure(100)
subplot(2,6,(problemindex-1)*2+1)
hold on
if numel(funname)==4
plot(res_nsga.obj(:,1),res_nsga.obj(:,2),'MarkerFaceColor','#9FB7A0','Marker','*','LineStyle','none');
plot(res_mpnds.obj(:,1),res_mpnds.obj(:,2),'MarkerFaceColor','#26A69A','Marker','^','LineStyle','none');
plot(res_mpnds2.obj(:,1),res_mpnds2.obj(:,2),'MarkerFaceColor','#f7e833','Marker','o','LineStyle','none');
plot(MPNNIA.obj(:,1),MPNNIA.obj(:,2),'MarkerFaceColor','black','Marker','>','LineStyle','none');
plot(MPHEIA.obj(:,1),MPHEIA.obj(:,2),'MarkerFaceColor','#7C2587','Marker','v','LineStyle','none');
plot(MPAIMA.obj(:,1),MPAIMA.obj(:,2),'MarkerFaceColor','blue','Marker','s','LineStyle','none');
plot(MPIA.obj(:,1),MPIA.obj(:,2),'MarkerFaceColor','red','Marker','p','LineStyle','none');
xlabel(funname{1},'FontSize',15)
ylabel(funname{2},'FontSize',15)
title('Efficiency DM','FontSize',15)
legend({'NSGA2','MPNDS','MPNDS2','BPNNIA','BPHEIA','BPAIMA','MPIA'},'Location','best','FontSize',15);
subplot(2,6,(problemindex-1)*2+2)
hold on
plot(res_nsga.obj(:,3),res_nsga.obj(:,4),'MarkerFaceColor','#9FB7A0','Marker','*','LineStyle','none');
plot(res_mpnds.obj(:,3),res_mpnds.obj(:,4),'MarkerFaceColor','#26A69A','Marker','^','LineStyle','none');
plot(res_mpnds2.obj(:,3),res_mpnds2.obj(:,4),'MarkerFaceColor','#f7e833','Marker','o','LineStyle','none');
plot(MPNNIA.obj(:,3),MPNNIA.obj(:,4),'MarkerFaceColor','black','Marker','>','LineStyle','none');
plot(MPHEIA.obj(:,3),MPHEIA.obj(:,4),'MarkerFaceColor','#7C2587','Marker','v','LineStyle','none');
plot(MPAIMA.obj(:,3),MPAIMA.obj(:,4),'MarkerFaceColor','blue','Marker','s','LineStyle','none');
plot(MPIA.obj(:,3),MPIA.obj(:,4),'MarkerFaceColor','red','Marker','p','LineStyle','none');
legend({'NSGA2','MPNDS','MPNDS2','BPNNIA','BPHEIA','BPAIMA','MPIA'},'Location','best','FontSize',15);
xlabel(funname{3},'FontSize',15)
ylabel(funname{4},'FontSize',15)
title('Safety DM','FontSize',15)
end
if PLOTHV
figure(101)
subplot(2,3,problemindex)
legend({'NSGA2','MPNDS','MPNDS2','BPNNIA','BPHEIA','BPAIMA','MPIA'},'Location','best','FontSize',15);
end
%%
allsol = [res_nsga.obj;res_mpnds.obj;res_mpnds2.obj;MPNNIA.obj;MPHEIA.obj;MPAIMA.obj;MPIA.obj];
nsga_hv = MEANHV(res_nsga.obj,allsol,2)
mpnds_hv = MEANHV(res_mpnds.obj,allsol,2)
mpnds2_hv = MEANHV(res_mpnds2.obj,allsol,2)
MPNNIA_hv = MEANHV(MPNNIA.obj,allsol,2)
MPHEIA_hv = MEANHV(MPHEIA.obj,allsol,2)
MPAIMA_hv = MEANHV(MPAIMA.obj,allsol,2)
MPIA_hv = MEANHV(MPIA.obj,allsol,2)
if saveflag ==1
HVidealpointlist=[HVidealpointlist;max(allsol)];
end
end
if saveflag ==1
save('HVidealpoint.mat','HVidealpointlist');
end
%%