CN114967689A - Multi-stage post-disaster rescue path optimization method and system based on improved ant colony algorithm - Google Patents

Multi-stage post-disaster rescue path optimization method and system based on improved ant colony algorithm Download PDF

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CN114967689A
CN114967689A CN202210573703.8A CN202210573703A CN114967689A CN 114967689 A CN114967689 A CN 114967689A CN 202210573703 A CN202210573703 A CN 202210573703A CN 114967689 A CN114967689 A CN 114967689A
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杨敏
李凯莉
梁樑
王刚
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Hefei University of Technology
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Abstract

The invention provides a multi-stage post-disaster rescue path optimization method and system based on an improved ant colony algorithm, and belongs to the technical field of data mining. The method comprises the following steps: acquiring basic information of each disaster-affected point of each disaster relief stage on site; taking a medical center as an initial starting point, and calculating the transition probability of the vehicle from the current position to the next disaster-affected point according to a formula (1); generating a rescue path of the vehicle according to the transition probability; constructing a multi-stage rescue scheme according to the loading capacity of the vehicle; judging whether the number of the generated ants is larger than an ant number threshold value or not; under the condition that the number of the generated ants is judged to be less than or equal to the threshold value of the number of the ants, the step of taking the medical center as an initial starting point and calculating the transition probability of the vehicle from the current position to the next disaster-affected point according to the formula (1) is returned to be executed again; and under the condition that the number of the ants generated currently is judged to be larger than the ant number threshold value, determining the optimal multi-stage rescue scheme generated currently.

Description

基于改进蚁群算法的多阶段灾后救援路径优化方法及系统Multi-stage post-disaster rescue path optimization method and system based on improved ant colony algorithm

技术领域technical field

本发明涉及数据挖掘技术领域，具体地涉及一种基于改进蚁群算法的多阶段灾后救援路径优化方法及系统。The invention relates to the technical field of data mining, in particular to a multi-stage post-disaster rescue path optimization method and system based on an improved ant colony algorithm.

背景技术Background technique

灾后救援路径优化是应急物流系统规划的重要组成部分，主要研究在灾害发生后，如何迅速有效地规划最佳的救援路线，组织救援车辆，前往各个受灾点救援伤员，将伤员及时地转运到相应的医疗中心接受治疗，极大程度地降低伤员的痛苦。因此，应急管理部门必须制定公平有效的救援方案，减轻灾害对人们造成的伤害，及时地将受灾人们从灾害中解救出来。Post-disaster rescue route optimization is an important part of emergency logistics system planning. It mainly studies how to quickly and effectively plan the best rescue route after a disaster occurs, organize rescue vehicles, go to each disaster-stricken point to rescue the wounded, and transfer the wounded to corresponding locations in a timely manner. medical center for treatment, greatly reducing the suffering of the wounded. Therefore, emergency management departments must formulate fair and effective rescue plans to reduce the harm caused by disasters to people, and to rescue the affected people from disasters in a timely manner.

在目前的灾后救援路径优化中，多数文献以时间最小化或是物流成本最小化等方面进行研究，鲜有考虑伤员在等待救援中因医疗物资的缺乏产生的痛苦程度，即伤员产生的匮乏成本。救援的第一要义是“以人为本，挽救生命”，因此，灾后救援路径的优化需从人的角度出发，最大化地提高救援效率，降低伤员的痛苦程度。同时，由于伤员的伤情不同，在救援初期对伤员伤情进行分类处理，有助于实现救援的公平性，然而现有研究多考虑同质性的伤员，缺乏对异质性伤员的考虑，这可能会使得重伤员错失黄金救援期，从而降低整体的救援效率。再者，就是关于救援阶段的问题，现有研究多以一个受灾点只能被访问一次作为前提假设，即在一个周期内，能够实现对所有受灾点的救援，然而由于伤员数量的不确定性以及车辆装载量的约束，一个受灾点可能需要多次救援才能完成救援工作。因此，在灾后救援路径优化中，现有研究对于降低伤员伤情的紧急程度，提高整体的救援效率，实现对于异质性伤员的多阶段救援路径优化方面还存在一定的不足。In the current post-disaster rescue path optimization, most literatures focus on the minimization of time or the minimization of logistics costs, and rarely consider the degree of pain caused by the lack of medical supplies for the wounded while waiting for rescue, that is, the cost of scarcity incurred by the wounded . The first essence of rescue is "people-oriented, saving lives". Therefore, the optimization of post-disaster rescue paths should be based on the perspective of people, so as to maximize rescue efficiency and reduce the suffering of the wounded. At the same time, due to the different injuries of the wounded, classifying the injuries of the wounded in the early stage of rescue is helpful to achieve the fairness of the rescue. However, the existing research mostly considers the homogeneous wounded and lacks the consideration of the heterogeneous wounded. This may cause the seriously injured to miss the golden rescue period, thereby reducing the overall rescue efficiency. Furthermore, regarding the rescue stage, the existing research mostly assumes that a disaster site can only be visited once as a premise, that is, the rescue of all disaster sites can be achieved within a cycle, but due to the uncertainty of the number of casualties. As well as the constraints of vehicle loading, a disaster-stricken point may require multiple rescues to complete the rescue work. Therefore, in the post-disaster rescue path optimization, the existing research has some deficiencies in reducing the urgency of the wounded, improving the overall rescue efficiency, and realizing the multi-stage rescue path optimization for the heterogeneous wounded.

发明内容SUMMARY OF THE INVENTION

本发明实施例的目的是提供一种基于改进蚁群算法的多阶段灾后救援路径优化方法，该方法及系统能够提高救援路径方案的优化效率。The purpose of the embodiments of the present invention is to provide a multi-stage post-disaster rescue path optimization method based on an improved ant colony algorithm, and the method and system can improve the optimization efficiency of the rescue path scheme.

为了实现上述目的，本发明实施例提供一种基于改进蚁群算法的多阶段灾后救援路径优化方法，包括：In order to achieve the above purpose, an embodiment of the present invention provides a multi-stage post-disaster rescue path optimization method based on an improved ant colony algorithm, including:

获取现场的每个救灾阶段的各个受灾点的基本信息；Obtain the basic information of each disaster-affected point in each disaster-relief stage at the scene;

以医疗中心作为初始的起点，根据公式(1)计算车辆从当前的所在位置到下一个受灾点的转移概率，Taking the medical center as the initial starting point, the transfer probability of the vehicle from the current location to the next disaster point is calculated according to formula (1),

Figure BDA0003661238760000021
Figure BDA0003661238760000021

其中，

Figure BDA0003661238760000022
为第NC代的第r只蚂蚁从第i个受灾点或医疗中心出发，到第j个受灾点的转移概率，
Figure BDA0003661238760000023
为第NC代的第i个受灾点和第j个受灾点之间的信息素浓度，α为信息素重要程度因子，
Figure BDA0003661238760000024
ηij为第i个受灾点和第j个受灾点之间的距离的启发信息，β为距离重要程度因子，γj为第j个受灾点的伤员集合产生的期望匮乏值的启发信息，λ为期望匮乏值重要程度因子，
Figure BDA0003661238760000025
为第NC代的第r只蚂蚁从第i个受灾点或医疗中心出发能够前往的受灾点的集合，
Figure BDA0003661238760000026
为索引序号；in,
Figure BDA0003661238760000022
is the transition probability of the rth ant of the NCth generation from the ith disaster point or medical center to the jth disaster point,
Figure BDA0003661238760000023
is the pheromone concentration between the i-th disaster point and the j-th disaster point of the NC generation, α is the pheromone importance factor,
Figure BDA0003661238760000024
η ij is the heuristic information of the distance between the i-th disaster point and the j-th disaster point, β is the distance importance factor, γ j is the heuristic information of the expected scarcity value generated by the wounded set of the j-th disaster point, λ is the expected scarcity value importance factor,
Figure BDA0003661238760000025
is the set of disaster points that the rth ant of the NCth generation can go to from the ith disaster point or medical center,
Figure BDA0003661238760000026
is the index number;

根据所述转移概率生成车辆的救援路径；generating a rescue path for the vehicle according to the transition probability;

根据车辆的装载量构建多阶段救援方案；Build a multi-stage rescue plan according to the loading capacity of the vehicle;

判断当前生成的蚂蚁的数量是否大于蚂蚁数量阈值；Determine whether the number of currently generated ants is greater than the threshold of the number of ants;

在判断当前生成的蚂蚁的数量小于或等于蚂蚁数量阈值的情况下，再次返回执行根据公式(1)计算车辆从当前的所在位置到下一个受灾点的转移概率的步骤；In the case of judging that the number of ants currently generated is less than or equal to the threshold of the number of ants, return to the step of calculating the transition probability of the vehicle from the current location to the next disaster point according to formula (1) again;

在判断当前生成的蚂蚁的数量大于蚂蚁数量阈值的情况下，确定当前已生成的最优的多阶段救援方案；In the case of judging that the number of currently generated ants is greater than the threshold of the number of ants, determine the currently generated optimal multi-stage rescue plan;

更新所述信息素浓度；updating the pheromone concentration;

判断当前的迭代次数是否大于预设值；Determine whether the current number of iterations is greater than the preset value;

在判断所述迭代次数小于或等于所述预设值的情况下，再次返回执行以医疗中心作为初始的起点，根据公式(1)计算车辆从当前的所在位置到下一个受灾点的转移概率的步骤；In the case of judging that the number of iterations is less than or equal to the preset value, return to the execution again with the medical center as the initial starting point, and calculate the transition probability of the vehicle from the current location to the next disaster point according to formula (1). step;

在判断所述迭代次数大于所述预设值的情况下，输出最优的多阶段救援方案。When it is judged that the number of iterations is greater than the preset value, an optimal multi-stage rescue plan is output.

可选地，根据所述转移概率生成车辆的救援路径包括：Optionally, generating the rescue path of the vehicle according to the transition probability includes:

根据公式(2)计算下一个受灾点的累积概率，Calculate the cumulative probability of the next disaster point according to formula (2),

Figure BDA0003661238760000031
Figure BDA0003661238760000031

其中，

Figure BDA0003661238760000032
为第NC代的第e个受灾点的累积概率，N为所述受灾点的集合；in,
Figure BDA0003661238760000032
is the cumulative probability of the e-th disaster-affected point of the NC-th generation, and N is the set of disaster-affected points;

随机生成0至1之间的随机数；Randomly generate random numbers between 0 and 1;

按照从小到大的顺序遍历每个所述累积概率，判断所述累积概率是否大于所述随机数；Traverse each of the cumulative probabilities in ascending order, and determine whether the cumulative probability is greater than the random number;

在判断所述累积概率大于所述随机数的情况下，选择所述累积概率对应的受灾点作为下一个受灾点；In the case of judging that the cumulative probability is greater than the random number, selecting the disaster-affected point corresponding to the cumulative probability as the next disaster-affected point;

判断当前是否还存在未被选择的受灾点；Determine whether there are still unselected disaster points;

在判断当前还存在未被选择的受灾点的情况下，更新当前的受灾点，并返回执行根据公式(1)计算车辆从当前的所在位置到下一个受灾点的转移概率的步骤；In the case of judging that there is still an unselected disaster-affected point, update the current disaster-affected point, and return to the step of calculating the transition probability of the vehicle from the current location to the next disaster-affected point according to formula (1);

在判断当前不存在未被选择的受灾点的情况下，输出所述救援路径。In the case of judging that there is currently no unselected disaster-affected point, the rescue route is output.

可选地，根据车辆的装载量构建多阶段救援方案包括：Optionally, constructing a multi-stage rescue plan according to the loading capacity of the vehicle includes:

按照所述救援路径的顺序，从所述受灾点的集合中选取一个受灾点；According to the sequence of the rescue paths, select a disaster point from the set of disaster points;

判断当前的车辆剩余的可负载量是否大于或等于选取的受灾点的伤员数量；Determine whether the remaining loadable capacity of the current vehicle is greater than or equal to the number of wounded at the selected disaster site;

在判断当前的车辆剩余的可负载量大于或等于选取的受灾点的伤员数量的情况下，将所述受灾点加入当前的车辆的行驶路径中；In the case of judging that the remaining loadable capacity of the current vehicle is greater than or equal to the number of injured persons at the selected disaster-affected point, adding the disaster-affected point to the current driving path of the vehicle;

判断当前是否还存在未被选取的受灾点；Determine whether there are still unselected disaster points;

在判断当前还存在未被选取的受灾点的情况下，返回执行按照所述救援路径的顺序，从所述受灾点的集合中选取一个受灾点的步骤；In the case of judging that there are still unselected disaster-affected points, returning to execute the steps of selecting a disaster-affected point from the set of disaster-affected points according to the sequence of the rescue paths;

在判断当前不存在未被选取的受灾点的情况下，输出所述多阶段救援方案；In the case of judging that there is currently no unselected disaster-affected point, outputting the multi-stage rescue plan;

在判断当前的车辆剩余的可负载量小于选取的受灾点的伤员数量的情况下，将选取的受灾点加入当前的车辆的行驶路径中，更新选取的受灾点的伤员数量为选取的受灾点的伤员数量与所述可负载量的差，并将当前的车辆的行驶路径中增加医疗中心作为终点，选择新的车辆。In the case where it is judged that the remaining loadable capacity of the current vehicle is less than the number of injured persons at the selected disaster-affected point, the selected disaster-affected point is added to the current driving path of the vehicle, and the number of injured persons at the selected disaster-affected point is updated to be the number of injured persons at the selected disaster-affected point. The difference between the number of wounded and the loadable capacity is determined, and a new vehicle is selected by adding a medical center to the current vehicle's travel path as the end point.

可选地，更新所述信息素浓度包括：Optionally, updating the pheromone concentration includes:

根据公式(3)和公式(4)更新所述信息素浓度，Update the pheromone concentration according to formula (3) and formula (4),

Figure BDA0003661238760000041
Figure BDA0003661238760000041

其中，

Figure BDA0003661238760000042
为第NC+1代的第r只蚂蚁的第i个受灾点和第j个受灾点之间的信息素浓度，
Figure BDA0003661238760000043
为第NC代的第r只蚂蚁的第i个受灾点和第j个受灾点之间的信息素浓度，ro为0至1之间的偏移值；in,
Figure BDA0003661238760000042
is the pheromone concentration between the i-th disaster point and the j-th disaster point of the rth ant of the NC+1 generation,
Figure BDA0003661238760000043
is the pheromone concentration between the i-th disaster point and the j-th disaster point of the r-th ant of the NC-th generation, and ro is the offset value between 0 and 1;

Figure BDA0003661238760000044
Figure BDA0003661238760000044

其中，Q为预设的信息素释放总量，

Figure BDA0003661238760000045
为第NC代的第r只蚂蚁在救灾阶段集合T上的期望匮乏值，bij为表示在第NC代第r只蚂蚁
Figure BDA0003661238760000046
经过的路径
Figure BDA0003661238760000047
中第i个受灾点di和第j个受灾点dj之间的弧(i,j)所在的位置。Among them, Q is the preset total amount of pheromone released,
Figure BDA0003661238760000045
is the expected scarcity value of the rth ant in the NC-th generation on the set T of the disaster relief stage, and b ij is the r-th ant in the NC-th generation
Figure BDA0003661238760000046
path taken
Figure BDA0003661238760000047
where the arc (i, j) between the i-th disaster point d i and the j-th disaster point d j is located.

可选地，更新所述信息素浓度包括：Optionally, updating the pheromone concentration includes:

根据公式(5)更新所述信息素浓度，Update the pheromone concentration according to formula (5),

Figure BDA0003661238760000051
Figure BDA0003661238760000051

其中，

Figure BDA0003661238760000052
为更新后的第NC+1代的第r只蚂蚁的第i个受灾点和第j个受灾点之间的信息素浓度，τmin为信息素浓度的下限值，τmin为信息素浓度的上限值。in,
Figure BDA0003661238760000052
is the updated pheromone concentration between the i-th disaster point and the j-th disaster point of the rth ant of the NC+1 generation, τ min is the lower limit of the pheromone concentration, τ min is the pheromone concentration upper limit of .

可选地，所述方法还包括：Optionally, the method further includes:

根据公式(6)计算所述期望匮乏值，The expected scarcity value is calculated according to formula (6),

Figure BDA0003661238760000053
Figure BDA0003661238760000053

其中，S为伤情状态集合，s为序号索引，

Figure BDA0003661238760000054
为第t个救援阶段第j个受灾点对第s种伤情状态的伤员集合的待救援量，θs为权重系数，f1、f2为预设常数。Among them, S is the injury state set, s is the serial number index,
Figure BDA0003661238760000054
is the amount to be rescued by the j-th disaster point in the t-th rescue stage to the injured group in the s-th injury state, θ s is a weight coefficient, and f 1 and f 2 are preset constants.

可选地，根据车辆的装载量构建多阶段救援方案包括：Optionally, constructing a multi-stage rescue plan according to the loading capacity of the vehicle includes:

根据公式(7)至公式(9)筛选所述多阶段救援方案，The multi-stage rescue plan is screened according to formula (7) to formula (9),

Figure BDA0003661238760000055
Figure BDA0003661238760000055

Figure BDA0003661238760000056
Figure BDA0003661238760000056

Figure BDA0003661238760000057
Figure BDA0003661238760000057

其中，

Figure BDA0003661238760000058
为第t个救援阶段的第i个受灾点的第s种伤情状态的伤员集合的待救援量，Nit为第t个救援阶段的第i个受灾点所有伤情状态的伤员集合的待救援量，o为伤情状态的集合，T为救援阶段的集合，N为受灾点的集合，
Figure BDA0003661238760000059
为k个车辆在第t个救援阶段转运第i个受灾点的第s种伤情状态的伤员量，K为车辆集合，c为车辆的总数量。in,
Figure BDA0003661238760000058
is the waiting-to-rescue quantity of the injured group in the s-th injury state of the i-th disaster point in the t-th rescue stage, and N it is the waiting-to-rescue amount of the injured group of all injured states of the i-th disaster point in the t-th rescue stage. Rescue amount, o is the set of injury states, T is the set of rescue stages, N is the set of disaster-affected points,
Figure BDA0003661238760000059
is the number of injured persons in the s-th injury state of the i-th disaster point transported by k vehicles in the t-th rescue stage, K is the set of vehicles, and c is the total number of vehicles.

可选地，输出最优的多阶段救援方案包括：Optionally, outputting the optimal multi-stage rescue plan includes:

选择最小的期望匮乏值对应的多阶段救援方案作为最优的所述多阶段救援方案。The multi-stage rescue plan corresponding to the smallest expected deprivation value is selected as the optimal multi-stage rescue plan.

另一方面，本发明还提供一种基于改进蚁群算法的多阶段灾后救援路径优化系统，所述系统包括处理器，所述处理器用于执行如上述任一所述的方法。In another aspect, the present invention also provides a multi-stage post-disaster rescue path optimization system based on an improved ant colony algorithm, the system includes a processor, and the processor is configured to execute any of the methods described above.

再一方面，本发明还提供一种计算机可读存储介质，所述计算机可读存储介质存储有指令，所述指令用于被机器读取以使得所述机器执行如上述任一所述的方法。In yet another aspect, the present invention also provides a computer-readable storage medium storing instructions for being read by a machine to cause the machine to perform any of the methods described above .

通过上述技术方案，本发明提供的基于改进蚁群算法的多阶段灾后救援路径优化方法及系统通过针对受灾点的基本信息，采用改进的蚁群算法对救援路径进行优化。相较于现有技术而言，该方法及系统中的改进算法由于结合了受灾点的伤员的多种信息，使得优化后的救援路径具备更高的效率。Through the above technical solutions, the multi-stage post-disaster rescue path optimization method and system based on the improved ant colony algorithm provided by the present invention optimize the rescue path by using the improved ant colony algorithm based on the basic information of the disaster-affected point. Compared with the prior art, the improved algorithm in the method and system combines various information of the wounded at the disaster-stricken point, so that the optimized rescue path has higher efficiency.

本发明实施例的其它特征和优点将在随后的具体实施方式部分予以详细说明。Other features and advantages of embodiments of the present invention will be described in detail in the detailed description section that follows.

附图说明Description of drawings

附图是用来提供对本发明实施例的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本发明实施例，但并不构成对本发明实施例的限制。在附图中：The accompanying drawings are used to provide a further understanding of the embodiments of the present invention, and constitute a part of the specification, and are used to explain the embodiments of the present invention together with the following specific embodiments, but do not constitute limitations to the embodiments of the present invention. In the attached image:

图1是根据本发明的一个实施方式的基于改进蚁群算法的多阶段灾后救援路径优化方法的流程图；1 is a flowchart of a multi-stage post-disaster rescue path optimization method based on an improved ant colony algorithm according to an embodiment of the present invention;

图2是根据本发明的一个实施方式的选择下一个受灾点的方法的流程图；FIG. 2 is a flowchart of a method for selecting a next disaster point according to an embodiment of the present invention;

图3是根据本发明的一个实施方式的生成的救援路径的示例图；3 is an exemplary diagram of a generated rescue path according to an embodiment of the present invention;

图4是根据本发明的一个实施方式的生成多阶段救援方案的方法的流程图。4 is a flowchart of a method of generating a multi-stage rescue plan according to one embodiment of the present invention.

具体实施方式Detailed ways

以下结合附图对本发明实施例的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本发明实施例，并不用于限制本发明实施例。The specific implementations of the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific implementation manners described herein are only used to illustrate and explain the embodiments of the present invention, and are not used to limit the embodiments of the present invention.

如图1所示是根据本发明的一个实施方式的基于改进蚁群算法的多阶段灾后救援路径优化方法的流程图。在该图1中，该方法可以包括：FIG. 1 is a flowchart of a multi-stage post-disaster rescue path optimization method based on an improved ant colony algorithm according to an embodiment of the present invention. In this Figure 1, the method may include:

在步骤S10中，获取现场的每个救灾阶段的各个受灾点的基本信息；In step S10, basic information of each disaster-stricken point in each disaster relief stage of the scene is obtained;

在步骤S11中，以医疗中心作为初始的起点，根据公式(1)计算车辆从当前的所在位置到下一个受灾点的转移概率，In step S11, with the medical center as the initial starting point, the transition probability of the vehicle from the current location to the next disaster point is calculated according to formula (1),

Figure BDA0003661238760000071
Figure BDA0003661238760000071

其中，

Figure BDA0003661238760000072
为第NC代的第r只蚂蚁从第i个受灾点或医疗中心出发，到第j个受灾点的转移概率，
Figure BDA0003661238760000073
为第NC代的第i个受灾点和第j个受灾点之间的信息素浓度，α为信息素重要程度因子，
Figure BDA0003661238760000074
ηij为第i个受灾点和第j个受灾点之间的距离的启发信息，β为距离重要程度因子，γj为第j个受灾点的伤员集合产生的期望匮乏值的启发信息，λ为期望匮乏值重要程度因子，
Figure BDA0003661238760000075
为第NC代的第r只蚂蚁从第i个受灾点或医疗中心出发能够前往的受灾点的集合，
Figure BDA0003661238760000076
为索引序号；in,
Figure BDA0003661238760000072
is the transition probability of the rth ant of the NCth generation from the ith disaster point or medical center to the jth disaster point,
Figure BDA0003661238760000073
is the pheromone concentration between the i-th disaster point and the j-th disaster point of the NC generation, α is the pheromone importance factor,
Figure BDA0003661238760000074
η ij is the heuristic information of the distance between the i-th disaster point and the j-th disaster point, β is the distance importance factor, γ j is the heuristic information of the expected scarcity value generated by the wounded set of the j-th disaster point, λ is the expected scarcity value importance factor,
Figure BDA0003661238760000075
is the set of disaster points that the rth ant of the NCth generation can go to from the ith disaster point or medical center,
Figure BDA0003661238760000076
is the index number;

在步骤S12中，根据转移概率生成车辆的救援路径；In step S12, a rescue path of the vehicle is generated according to the transition probability;

在步骤S13中，根据车辆的装载量构建多阶段救援方案；In step S13, a multi-stage rescue plan is constructed according to the loading capacity of the vehicle;

在步骤S14中，判断当前生成的蚂蚁的数量是否大于蚂蚁数量阈值；In step S14, it is judged whether the number of currently generated ants is greater than the threshold of the number of ants;

在判断当前生成的蚂蚁的数量小于或等于蚂蚁数量阈值的情况下，再次返回执行以医疗中心作为初始的起点，根据公式(1)计算车辆从当前的所在位置到下一个受灾点的转移概率的步骤；In the case of judging that the number of ants currently generated is less than or equal to the threshold of the number of ants, return to the execution again with the medical center as the initial starting point, and calculate the transition probability of the vehicle from the current location to the next disaster point according to formula (1). step;

在步骤S15中，在判断当前生成的蚂蚁的数量大于蚂蚁数量阈值的情况下，确定当前已生成的最优的多阶段救援方案；In step S15, when it is judged that the number of ants currently generated is greater than the threshold of the number of ants, determine the currently generated optimal multi-stage rescue plan;

在步骤S16中，更新信息素浓度；In step S16, update the pheromone concentration;

在步骤S17中，判断当前的迭代次数是否大于预设值；In step S17, determine whether the current number of iterations is greater than a preset value;

在判断迭代次数小于或等于预设值的情况下，再次返回执行以医疗中心作为初始的起点，根据公式(1)计算车辆从当前的所在位置到下一个受灾点的转移概率的步骤；In the case of judging that the number of iterations is less than or equal to the preset value, return to the step of calculating the transition probability of the vehicle from the current location to the next disaster point according to formula (1) with the medical center as the initial starting point;

在步骤S18中，在判断迭代次数大于预设值的情况下，输出最优的多阶段救援方案。In step S18, when it is judged that the number of iterations is greater than the preset value, an optimal multi-stage rescue plan is output.

在该如图1所示出的方法中，步骤S10用于获取现场的每个救灾阶段的各个受灾点的基本信息。该基本信息可以是救援现场的救援阶段集合、受灾点集合、伤员伤情状态集合、伤员集合、救援车辆集合以及医疗中心。In the method shown in FIG. 1 , step S10 is used for acquiring basic information of each disaster-affected point in each disaster relief stage on the site. The basic information may be a set of rescue stages at the rescue site, a set of disaster-affected points, a set of wounded and injured states, a set of wounded, a set of rescue vehicles, and a medical center.

在该方法中，多个救援车辆需要从医疗中心出发，针对伤员伤情状态、伤员数量等信息前往各个受灾点，从而完成救援任务。步骤S11和步骤S12可以用于生成救援各个受灾点先后顺序的救援路径，而步骤S13则是根据已生成的救援路径和车辆本身的装载量来生成完整的多阶段救援方案。In this method, multiple rescue vehicles need to start from the medical center and go to each disaster-stricken point according to the information such as the injured state and the number of wounded, so as to complete the rescue task. Steps S11 and S12 can be used to generate a sequence of rescue paths for each disaster-affected point, and step S13 is to generate a complete multi-stage rescue plan according to the generated rescue paths and the loading capacity of the vehicle itself.

具体地，在步骤S11可以是根据公式(1)来计算该转移概率，转移概率越大，则表示车辆在步骤S12中选择该受灾点的概率越大，而根据该步骤S12确定救援路径的方法，虽然可以是本领域人员所知的多种方法。但是，考虑到后续迭代过程中算法的运行效率，在本发明的一个优选示例中，步骤S12可以是包括如图2中所示出的方法。在该图2中，该方法可以包括：Specifically, in step S11, the transition probability may be calculated according to formula (1). The greater the transition probability, the greater the probability that the vehicle selects the disaster-affected point in step S12, and the method for determining the rescue path according to this step S12 , although a variety of methods are known to those in the art. However, considering the operation efficiency of the algorithm in the subsequent iteration process, in a preferred example of the present invention, step S12 may include the method shown in FIG. 2 . In this Figure 2, the method may include:

在步骤S20中，根据公式(2)计算下一个受灾点被选择的累积概率，In step S20, the cumulative probability that the next disaster-affected point is selected is calculated according to formula (2),

Figure BDA0003661238760000091
Figure BDA0003661238760000091

其中，

Figure BDA0003661238760000092
为第NC代的第e个受灾点的累积概率，N为受灾点的集合；in,
Figure BDA0003661238760000092
is the cumulative probability of the e-th disaster point of the NC-th generation, and N is the set of disaster points;

在步骤S21中，随机生成0至1之间的随机数；In step S21, a random number between 0 and 1 is randomly generated;

在步骤S22中，按照从小到大的顺序遍历每个累积概率，判断该累积概率是否大于随机数；In step S22, traverse each cumulative probability in order from small to large, and determine whether the cumulative probability is greater than a random number;

在步骤S23中，在判断累积概率大于该随机数的情况下，选择累积概率对应的受灾点作为下一个受灾点；In step S23, when it is judged that the cumulative probability is greater than the random number, the disaster-affected point corresponding to the cumulative probability is selected as the next disaster-affected point;

在步骤S24中，判断当前是否还存在未被选择的受灾点；In step S24, it is judged whether there are still unselected disaster-affected points at present;

在步骤S25中，在判断当前还存在未被选择的受灾点的情况下，更新当前的受灾点，并返回执行根据公式(1)计算车辆从当前的所在位置到下一个受灾点的转移概率的步骤；In step S25, when it is judged that there is still an unselected disaster-affected point, the current disaster-affected point is updated, and the method of calculating the transition probability of the vehicle from the current location to the next disaster-affected point according to formula (1) is returned. step;

在步骤S26中，在判断当前不存在未被选择的受灾点的情况下，输出救援路径。In step S26, when it is judged that there is currently no unselected disaster point, a rescue route is output.

在步骤S12生成救援路径后，步骤S13可以根据该车辆的装载量构建多阶段救援方案。具体地，该步骤S13可以包括如图3中所示出的步骤。在该图3中，步骤S13可以包括：After the rescue route is generated in step S12, in step S13, a multi-stage rescue plan can be constructed according to the loading capacity of the vehicle. Specifically, this step S13 may include steps as shown in FIG. 3 . In this FIG. 3, step S13 may include:

在步骤S30中，按照救援路径的顺序，从受灾点的集合中选取一个受灾点；In step S30, according to the sequence of rescue paths, select a disaster point from the set of disaster points;

在步骤S31中，判断当前的车辆剩余的可负载量是否大于或等于选取的受灾点的伤员数量；In step S31, it is judged whether the current remaining loadable capacity of the vehicle is greater than or equal to the number of injured persons at the selected disaster site;

在步骤S32中，在判断当前的车辆剩余的可负载量大于或等于选取的受灾点的伤员数量的情况下，将受灾点加入当前的车辆的行驶路径中；In step S32, when it is judged that the remaining loadable capacity of the current vehicle is greater than or equal to the number of injured persons at the selected disaster-affected point, the disaster-affected point is added to the current vehicle's travel path;

在步骤S33中，判断当前是否还存在未被选取的受灾点；In step S33, it is judged whether there is an unselected disaster point at present;

在步骤S34中，在判断当前还存在未被选取的受灾点的情况下，返回执行按照救援路径的顺序，从受灾点的集合中选取一个受灾点的步骤；In step S34, in the case of judging that there is still an unselected disaster-affected point at present, return to the step of selecting a disaster-affected point from the set of disaster-affected points according to the order of the rescue paths;

在步骤S35中，在判断当前不存在未被选取的受灾点的情况下，输出多阶段救援方案；In step S35, in the case of judging that there is no unselected disaster-affected point, output a multi-stage rescue plan;

在判断当前的车辆剩余的可负载量小于选取的受灾点的伤员数量的情况下，将选取的受灾点加入当前的车辆的行驶路径中，更新选取的受灾点的伤员数量为选取的受灾点的伤员数量与可负载量的差，并将当前的车辆的行驶路径中增加医疗中心作为终点，选择新的车辆。In the case where it is judged that the remaining loadable capacity of the current vehicle is less than the number of injured persons at the selected disaster-affected point, the selected disaster-affected point is added to the current driving path of the vehicle, and the number of injured persons at the selected disaster-affected point is updated to be the number of injured persons at the selected disaster-affected point. Calculate the difference between the number of wounded and the loadable capacity, add the medical center to the current vehicle's travel path as the end point, and select a new vehicle.

在该如图3所示出的方法中，步骤S30可以根据救援路径的顺序依次选择受灾点加入当前选择的车辆的行驶路径中。步骤S31用于判断当前选择的车辆是否能够承担选择的受灾点的救援任务。在该车辆能够承担的情况下，即步骤S31判断是的情况下，可以直接将该受灾点加入行驶路径中，并重新选择新的受灾点。而当该车辆无法完成该受灾点的救援任务的情况下，此时可以一方面将该受灾点加入行驶路径中，使得车辆前往受灾点完成自身能够完成的救援量，同时更新选择的受灾点的实际伤员数量。步骤S33则可以用于判断当前是否已经不存在能够选择的受灾点，即多阶段救援方案是否已经生成完毕。In the method shown in FIG. 3 , in step S30 , the disaster-affected points may be sequentially selected according to the sequence of rescue paths to be added to the currently selected travel path of the vehicle. Step S31 is used to judge whether the currently selected vehicle can undertake the rescue task of the selected disaster-stricken point. If the vehicle can bear the burden, that is, if it is determined in step S31 , the disaster-affected point can be directly added to the travel route, and a new disaster-affected point can be reselected. When the vehicle cannot complete the rescue mission of the disaster-affected point, the disaster-affected point can be added to the driving path on the one hand, so that the vehicle can go to the disaster-affected point to complete the rescue amount that it can complete, and at the same time update the selected disaster-affected point Actual number of casualties. Step S33 can be used to judge whether there is no disaster-stricken point that can be selected at present, that is, whether the multi-stage rescue plan has been generated.

步骤S14可以判断当前生成的蚂蚁的数量是否大于蚂蚁数量阈值。其中，该蚂蚁的数量可以表示当前生成的多阶段救援方案的数量，蚂蚁数量阈值即可以表示为需要生成的多阶段救援方案的数量。步骤S15可以用于确定当前已生成的最优的多阶段救援方案，从而便于后续信息素浓度的更新。具体地，在该实施方式中，确定该最优的多阶段救援方案的方法可以是先根据(6)计算期望匮乏值，Step S14 may determine whether the number of ants currently generated is greater than the threshold of the number of ants. The number of the ants may represent the number of currently generated multi-stage rescue plans, and the ant number threshold may be expressed as the number of multi-stage rescue plans to be generated. Step S15 may be used to determine the currently generated optimal multi-stage rescue plan, so as to facilitate the subsequent update of the pheromone concentration. Specifically, in this embodiment, the method for determining the optimal multi-stage rescue plan may be to first calculate the expected deprivation value according to (6),

Figure BDA0003661238760000101
Figure BDA0003661238760000101

其中，S为伤情状态集合，s为序号索引，

Figure BDA0003661238760000102
为第t个救援阶段第j个受灾点对第s种伤情状态的伤员集合的待救援量，θs为权重系数，f1、f2为预设常数。Among them, S is the injury state set, s is the serial number index,
Figure BDA0003661238760000102
is the amount to be rescued by the j-th disaster point in the t-th rescue stage to the injured group in the s-th injury state, θ s is a weight coefficient, and f 1 and f 2 are preset constants.

再通过对比，选择期望匮乏值最小的多阶段救援方案作为最优方案。Then, through comparison, the multi-stage rescue plan with the smallest expected scarcity value is selected as the optimal plan.

此外，在该实施方式中，对于更新信息素浓度的方法，虽然可以是本领域人员所知的多种方式，但是在本发明的一个优选示例中，更新该信息素浓度的方法可以是根据公式(3)、公式(4)和公式(5)更新信息素浓度，In addition, in this embodiment, although the method for updating the pheromone concentration may be various methods known to those skilled in the art, in a preferred example of the present invention, the method for updating the pheromone concentration may be based on the formula (3), formula (4) and formula (5) update the pheromone concentration,

Figure BDA0003661238760000111
Figure BDA0003661238760000111

其中，

Figure BDA0003661238760000112
为第NC+1代的第r只蚂蚁的第i个受灾点和第j个受灾点之间的信息素浓度，
Figure BDA0003661238760000113
为第NC代的第r只蚂蚁的第i个受灾点和第j个受灾点之间的信息素浓度，ro为0至1之间的偏移值；in,
Figure BDA0003661238760000112
is the pheromone concentration between the ith disaster point and the jth disaster point of the rth ant of the NC+1 generation,
Figure BDA0003661238760000113
is the pheromone concentration between the i-th disaster point and the j-th disaster point of the rth ant of the NC-th generation, and ro is the offset value between 0 and 1;

Figure BDA0003661238760000114
Figure BDA0003661238760000114

其中，Q为预设的信息素释放总量，

Figure BDA0003661238760000115
为第NC代的第r只蚂蚁在救灾阶段集合T上的期望匮乏值，bij为表示在第NC代第r只蚂蚁
Figure BDA0003661238760000116
经过的路径
Figure BDA0003661238760000117
中第i个受灾点di和第j个受灾点dj之间的弧(i,j)所在的位置；Among them, Q is the preset total amount of pheromone released,
Figure BDA0003661238760000115
is the expected scarcity value of the rth ant in the NC-th generation on the set T of the disaster relief stage, and b ij is the r-th ant in the NC-th generation
Figure BDA0003661238760000116
path taken
Figure BDA0003661238760000117
where the arc (i, j) between the i-th disaster point d i and the j-th disaster point d j is located;

Figure BDA0003661238760000118
Figure BDA0003661238760000118

其中，

Figure BDA0003661238760000119
为更新后的第NC+1代的第r只蚂蚁的第i个受灾点和第j个受灾点之间的信息素浓度，τmin为信息素浓度的下限值，τmin为信息素浓度的上限值。in,
Figure BDA0003661238760000119
is the updated pheromone concentration between the i-th disaster point and the j-th disaster point of the rth ant of the NC+1 generation, τ min is the lower limit of the pheromone concentration, τ min is the pheromone concentration upper limit of .

在该实施方式中，为了减少算法的复杂度，在生成该多阶段救援方案时，可以通过公式(7)至公式(9)筛选该多阶段救援方案，In this embodiment, in order to reduce the complexity of the algorithm, when the multi-stage rescue plan is generated, the multi-stage rescue plan can be screened by formula (7) to formula (9),

Figure BDA00036612387600001110
Figure BDA00036612387600001110

Figure BDA0003661238760000121
Figure BDA0003661238760000121

Figure BDA0003661238760000122
Figure BDA0003661238760000122

其中，

Figure BDA0003661238760000123
为第t个救援阶段的第i个受灾点的第s种伤情状态的伤员集合的待救援量，Nit为第t个救援阶段的第i个受灾点所有伤情状态的伤员集合的待救援量，o为伤情状态的集合，T为救援阶段的集合，N为受灾点的集合，
Figure BDA0003661238760000124
为k个车辆在第t个救援阶段转运第i个受灾点的第s种伤情状态的伤员量，K为车辆集合，c为车辆的总数量。in,
Figure BDA0003661238760000123
is the waiting-to-rescue quantity of the injured group in the s-th injury state of the i-th disaster point in the t-th rescue stage, and N it is the waiting-to-rescue amount of the injured group of all injured states of the i-th disaster point in the t-th rescue stage. Rescue amount, o is the set of injury states, T is the set of rescue stages, N is the set of disaster-affected points,
Figure BDA0003661238760000124
is the number of injured persons in the s-th injury state of the i-th disaster point transported by k vehicles in the t-th rescue stage, K is the set of vehicles, and c is the total number of vehicles.

另一方面，本发明还提供一种基于改进蚁群算法的多阶段灾后救援路径优化系统，所述系统包括处理器，所述处理器用于执行如上述任一所述的方法。In another aspect, the present invention also provides a multi-stage post-disaster rescue path optimization system based on an improved ant colony algorithm, the system includes a processor, and the processor is configured to execute any of the methods described above.

再一方面，本发明还提供一种计算机可读存储介质，所述计算机可读存储介质存储有指令，所述指令用于被机器读取以使得所述机器执行如上述任一所述的方法。In yet another aspect, the present invention also provides a computer-readable storage medium storing instructions for being read by a machine to cause the machine to perform any of the methods described above .

通过上述技术方案，本发明提供的基于改进蚁群算法的多阶段灾后救援路径优化方法及系统通过针对受灾点的基本信息，采用改进的蚁群算法对救援路径进行优化。相较于现有技术而言，该方法及系统中的改进算法由于结合了受灾点的伤员的多种信息，使得优化后的救援路径具备更高的效率。Through the above technical solutions, the multi-stage post-disaster rescue path optimization method and system based on the improved ant colony algorithm provided by the present invention optimize the rescue path by using the improved ant colony algorithm based on the basic information of the disaster-affected point. Compared with the prior art, the improved algorithm in the method and system combines various information of the wounded at the disaster-stricken point, so that the optimized rescue path has higher efficiency.

本领域内的技术人员应明白，本申请的实施例可提供为方法、系统、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。As will be appreciated by those skilled in the art, the embodiments of the present application may be provided as a method, a system, or a computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

本申请是参照根据本申请实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It will be understood that each flow and/or block in the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce Means for implementing the functions specified in a flow or flow of a flowchart and/or a block or blocks of a block diagram.

这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory result in an article of manufacture comprising instruction means, the instructions The apparatus implements the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.

这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions can also be loaded on a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process such that The instructions provide steps for implementing the functions specified in the flow or blocks of the flowcharts and/or the block or blocks of the block diagrams.

在一个典型的配置中，计算设备包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

存储器可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)。存储器是计算机可读介质的示例。Memory may include non-persistent memory in computer readable media, random access memory (RAM) and/or non-volatile memory in the form of, for example, read only memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。按照本文中的界定，计算机可读介质不包括暂存电脑可读媒体(transitory media)，如调制的数据信号和载波。Computer-readable media includes both persistent and non-permanent, removable and non-removable media, and storage of information may be implemented by any method or technology. Information may be computer readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Flash Memory or other memory technology, Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media, such as modulated data signals and carrier waves.

还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、商品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、商品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括要素的过程、方法、商品或者设备中还存在另外的相同要素。It should also be noted that the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device comprising a series of elements includes not only those elements, but also Other elements not expressly listed or inherent to such a process, method, article of manufacture or apparatus are also included. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in the process, method, article of manufacture or apparatus that includes the element.

以上仅为本申请的实施例而已，并不用于限制本申请。对于本领域技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本申请的权利要求范围之内。The above are merely examples of the present application, and are not intended to limit the present application. Various modifications and variations of this application are possible for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the scope of the claims of this application.

Claims (10)

1.一种基于改进蚁群算法的多阶段灾后救援路径优化方法，其特征在于，所述优化方法包括：1. a multi-stage post-disaster rescue path optimization method based on improved ant colony algorithm, is characterized in that, described optimization method comprises: 获取现场的每个救灾阶段的各个受灾点的基本信息；Obtain the basic information of each disaster-affected point in each disaster-relief stage at the scene; 以医疗中心作为初始的起点，根据公式(1)计算车辆从当前的所在位置到下一个受灾点的转移概率，Taking the medical center as the initial starting point, the transfer probability of the vehicle from the current location to the next disaster point is calculated according to formula (1),
Figure FDA0003661238750000011
Figure FDA0003661238750000011
 其中，
Figure FDA0003661238750000012
为第NC代的第r只蚂蚁从第i个受灾点或医疗中心出发，到第j个受灾点的转移概率，
Figure FDA0003661238750000013
为第NC代的第i个受灾点和第j个受灾点之间的信息素浓度，α为信息素重要程度因子，
Figure FDA0003661238750000014
ηij为第i个受灾点和第j个受灾点之间的距离的启发信息，β为距离重要程度因子，γj为第j个受灾点的伤员集合产生的期望匮乏值的启发信息，λ为期望匮乏值重要程度因子，
Figure FDA0003661238750000015
为第NC代的第r只蚂蚁从第i个受灾点或医疗中心出发能够前往的受灾点的集合，
Figure FDA0003661238750000016
为索引序号；in,
Figure FDA0003661238750000012
is the transition probability of the rth ant of the NCth generation from the ith disaster point or medical center to the jth disaster point,
Figure FDA0003661238750000013
is the pheromone concentration between the i-th disaster point and the j-th disaster point of the NC generation, α is the pheromone importance factor,
Figure FDA0003661238750000014
η ij is the heuristic information of the distance between the i-th disaster point and the j-th disaster point, β is the distance importance factor, γ j is the heuristic information of the expected scarcity value generated by the wounded set of the j-th disaster point, λ is the expected scarcity value importance factor,
Figure FDA0003661238750000015
is the set of disaster points that the rth ant of the NCth generation can go to from the ith disaster point or medical center,
Figure FDA0003661238750000016
is the index number; 根据所述转移概率生成车辆的救援路径；generating a rescue path for the vehicle according to the transition probability; 根据车辆的装载量构建多阶段救援方案；Build a multi-stage rescue plan according to the loading capacity of the vehicle; 判断当前生成的蚂蚁的数量是否大于蚂蚁数量阈值；Determine whether the number of currently generated ants is greater than the threshold of the number of ants; 在判断当前生成的蚂蚁的数量小于或等于蚂蚁数量阈值的情况下，再次返回执行以医疗中心作为初始的起点，根据公式(1)计算车辆从当前的所在位置到下一个受灾点的转移概率的步骤；In the case of judging that the number of ants currently generated is less than or equal to the threshold of the number of ants, return to the execution again with the medical center as the initial starting point, and calculate the transition probability of the vehicle from the current location to the next disaster point according to formula (1). step; 在判断当前生成的蚂蚁的数量大于蚂蚁数量阈值的情况下，确定当前已生成的最优的多阶段救援方案；In the case of judging that the number of currently generated ants is greater than the threshold of the number of ants, determine the currently generated optimal multi-stage rescue plan; 更新所述信息素浓度；updating the pheromone concentration; 判断当前的迭代次数是否大于预设值；Determine whether the current number of iterations is greater than the preset value; 在判断所述迭代次数小于或等于所述预设值的情况下，再次返回执行以医疗中心作为初始的起点，根据公式(1)计算车辆从当前的所在位置到下一个受灾点的转移概率的步骤；In the case of judging that the number of iterations is less than or equal to the preset value, return to the execution again with the medical center as the initial starting point, and calculate the transition probability of the vehicle from the current location to the next disaster point according to formula (1). step; 在判断所述迭代次数大于所述预设值的情况下，输出最优的多阶段救援方案。When it is judged that the number of iterations is greater than the preset value, an optimal multi-stage rescue plan is output. 2.根据权利要求1所述的方法，其特征在于，根据所述转移概率生成车辆的救援路径包括：2. The method according to claim 1, wherein generating the rescue path of the vehicle according to the transition probability comprises: 根据公式(2)计算下一个受灾点被选择的累积概率，Calculate the cumulative probability that the next disaster point is selected according to formula (2),
Figure FDA0003661238750000021
Figure FDA0003661238750000021
 其中，
Figure FDA0003661238750000022
为第NC代的第e个受灾点的累积概率，N为所述受灾点的集合；in,
Figure FDA0003661238750000022
is the cumulative probability of the e-th disaster-affected point of the NC-th generation, and N is the set of disaster-affected points; 随机生成0至1之间的随机数；Randomly generate random numbers between 0 and 1; 按照从小到大的顺序遍历每个所述累积概率，判断所述累积概率是否大于所述随机数；Traverse each of the cumulative probabilities in ascending order, and determine whether the cumulative probability is greater than the random number; 在判断所述累积概率大于所述随机数的情况下，选择所述累积概率对应的受灾点作为下一个受灾点；In the case of judging that the cumulative probability is greater than the random number, selecting the disaster-affected point corresponding to the cumulative probability as the next disaster-affected point; 判断当前是否还存在未被选择的受灾点；Determine whether there are still unselected disaster points; 在判断当前还存在未被选择的受灾点的情况下，更新当前的受灾点，并返回执行根据公式(1)计算车辆从当前的所在位置到下一个受灾点的转移概率的步骤；In the case of judging that there is still an unselected disaster-affected point, update the current disaster-affected point, and return to the step of calculating the transition probability of the vehicle from the current location to the next disaster-affected point according to formula (1); 在判断当前不存在未被选择的受灾点的情况下，输出所述救援路径。In the case of judging that there is currently no unselected disaster-affected point, the rescue route is output. 3.根据权利要求1所述的方法，其特征在于，根据车辆的装载量构建多阶段救援方案包括：3. The method according to claim 1, wherein constructing a multi-stage rescue plan according to the loading capacity of the vehicle comprises: 按照所述救援路径的顺序，从所述受灾点的集合中选取一个受灾点；According to the sequence of the rescue paths, select a disaster point from the set of disaster points; 判断当前的车辆剩余的可负载量是否大于或等于选取的受灾点的伤员数量；Determine whether the remaining loadable capacity of the current vehicle is greater than or equal to the number of wounded at the selected disaster site; 在判断当前的车辆剩余的可负载量大于或等于选取的受灾点的伤员数量的情况下，将所述受灾点加入当前的车辆的行驶路径中；In the case of judging that the remaining loadable capacity of the current vehicle is greater than or equal to the number of injured persons at the selected disaster-affected point, adding the disaster-affected point to the current driving path of the vehicle; 判断当前是否还存在未被选取的受灾点；Determine whether there are still unselected disaster points; 在判断当前还存在未被选取的受灾点的情况下，返回执行按照所述救援路径的顺序，从所述受灾点的集合中选取一个受灾点的步骤；In the case of judging that there are still unselected disaster-affected points, returning to execute the steps of selecting a disaster-affected point from the set of disaster-affected points according to the sequence of the rescue paths; 在判断当前不存在未被选取的受灾点的情况下，输出所述多阶段救援方案；In the case of judging that there is currently no unselected disaster-affected point, outputting the multi-stage rescue plan; 在判断当前的车辆剩余的可负载量小于选取的受灾点的伤员数量的情况下，将选取的受灾点加入当前的车辆的行驶路径中，更新选取的受灾点的伤员数量为选取的受灾点的伤员数量与所述可负载量的差，并将当前的车辆的行驶路径中增加医疗中心作为终点，选择新的车辆。In the case of judging that the remaining load capacity of the current vehicle is less than the number of injured persons at the selected disaster-affected point, the selected disaster-affected point is added to the current vehicle's driving path, and the number of injured persons at the selected disaster-affected point is updated to be the number of injured persons at the selected disaster-affected point. The difference between the number of wounded and the loadable capacity is determined, and a new vehicle is selected by adding a medical center to the current vehicle's travel path as the end point. 4.根据权利要求1所述的方法，其特征在于，更新所述信息素浓度包括：4. The method of claim 1, wherein updating the pheromone concentration comprises: 根据公式(3)和公式(4)更新所述信息素浓度，Update the pheromone concentration according to formula (3) and formula (4),
Figure FDA0003661238750000031
Figure FDA0003661238750000031
 其中，
Figure FDA0003661238750000032
为第NC+1代的第r只蚂蚁的第i个受灾点和第j个受灾点之间的信息素浓度，
Figure FDA0003661238750000033
为第NC代的第r只蚂蚁的第i个受灾点和第j个受灾点之间的信息素浓度，ro为0至1之间的偏移值；in,
Figure FDA0003661238750000032
is the pheromone concentration between the ith disaster point and the jth disaster point of the rth ant of the NC+1 generation,
Figure FDA0003661238750000033
is the pheromone concentration between the i-th disaster point and the j-th disaster point of the rth ant of the NC-th generation, and ro is the offset value between 0 and 1;
Figure FDA0003661238750000034
Figure FDA0003661238750000034
 其中，Q为预设的信息素释放总量，
Figure FDA0003661238750000041
为第NC代的第r只蚂蚁在救灾阶段集合T上的期望匮乏值，bij为表示在第NC代第r只蚂蚁
Figure FDA0003661238750000042
经过的路径
Figure FDA0003661238750000043
中第i个受灾点di和第j个受灾点dj之间的弧(i,j)所在的位置。Among them, Q is the preset total amount of pheromone released,
Figure FDA0003661238750000041
is the expected scarcity value of the rth ant in the NC-th generation on the set T of the disaster relief stage, and b ij is the r-th ant in the NC-th generation
Figure FDA0003661238750000042
path taken
Figure FDA0003661238750000043
where the arc (i, j) between the i-th disaster point d i and the j-th disaster point d j is located. 5.根据权利要求4所述的方法，其特征在于，更新所述信息素浓度包括：5. The method of claim 4, wherein updating the pheromone concentration comprises: 根据公式(5)更新所述信息素浓度，Update the pheromone concentration according to formula (5),
Figure FDA0003661238750000044
Figure FDA0003661238750000044
 其中，
Figure FDA0003661238750000045
为更新后的第NC+1代的第r只蚂蚁的第i个受灾点和第j个受灾点之间的信息素浓度，τmin为信息素浓度的下限值，τmin为信息素浓度的上限值。in,
Figure FDA0003661238750000045
is the updated pheromone concentration between the i-th disaster point and the j-th disaster point of the rth ant of the NC+1 generation, τ min is the lower limit of the pheromone concentration, τ min is the pheromone concentration upper limit of . 6.根据权利要求1所述的方法，其特征在于，所述方法还包括：6. The method of claim 1, wherein the method further comprises: 根据公式(6)计算所述期望匮乏值，The expected scarcity value is calculated according to formula (6),
Figure FDA0003661238750000046
Figure FDA0003661238750000046
 其中，S为伤情状态集合，s为序号索引，
Figure FDA0003661238750000047
为第t个救援阶段第j个受灾点对第s种伤情状态的伤员集合的待救援量，θs为权重系数，f1、f2为预设常数。Among them, S is the injury state set, s is the serial number index,
Figure FDA0003661238750000047
is the amount to be rescued by the j-th disaster point in the t-th rescue stage to the injured group in the s-th injury state, θ s is a weight coefficient, and f 1 and f 2 are preset constants. 7.根据权利要求1所述的方法，其特征在于，根据车辆的装载量构建多阶段救援方案包括：7. The method according to claim 1, wherein constructing a multi-stage rescue plan according to the loading capacity of the vehicle comprises: 根据公式(7)至公式(9)筛选所述多阶段救援方案，The multi-stage rescue plan is screened according to formula (7) to formula (9),
Figure FDA0003661238750000051
Figure FDA0003661238750000051
Figure FDA0003661238750000052
Figure FDA0003661238750000052
Figure FDA0003661238750000053
Figure FDA0003661238750000053
 其中，
Figure FDA0003661238750000054
为第t个救援阶段的第i个受灾点的第s种伤情状态的伤员集合的待救援量，Nit为第t个救援阶段的第i个受灾点所有伤情状态的伤员集合的待救援量，o为伤情状态的集合，T为救援阶段的集合，N为受灾点的集合，
Figure FDA0003661238750000055
为k个车辆在第t个救援阶段转运第i个受灾点的第s种伤情状态的伤员量，K为车辆集合，c为车辆的总数量。in,
Figure FDA0003661238750000054
is the waiting-to-rescue quantity of the injured group in the s-th injury state of the i-th disaster point in the t-th rescue stage, and N it is the waiting-to-rescue amount of the injured group of all injured states of the i-th disaster point in the t-th rescue stage. Rescue amount, o is the set of injury states, T is the set of rescue stages, N is the set of disaster-affected points,
Figure FDA0003661238750000055
is the number of injured persons in the s-th injury state of the i-th disaster point transported by k vehicles in the t-th rescue stage, K is the set of vehicles, and c is the total number of vehicles. 8.根据权利要求1所述的方法，其特征在于，输出最优的多阶段救援方案包括：8. The method according to claim 1, wherein outputting an optimal multi-stage rescue plan comprises: 选择最小的期望匮乏值对应的多阶段救援方案作为最优的所述多阶段救援方案。The multi-stage rescue plan corresponding to the smallest expected deprivation value is selected as the optimal multi-stage rescue plan. 9.一种基于改进蚁群算法的多阶段灾后救援路径优化系统，其特征在于，所述系统包括处理器，所述处理器用于执行如权利要求1至8任一所述的方法。9 . A multi-stage post-disaster rescue path optimization system based on an improved ant colony algorithm, wherein the system comprises a processor, and the processor is configured to execute the method according to any one of claims 1 to 8 . 10.一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有指令，所述指令用于被机器读取以使得所述机器执行如权利要求1至8任一所述的方法。10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores instructions, the instructions are used to be read by a machine to cause the machine to execute any one of claims 1 to 8 Methods.
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