C++下基于竞拍算法解决无人机任务分配问题

【算法】拍卖算法（最优分配问题）--启发式算法_wuxiaoxiao2021的博客-CSDN博客

竞拍算法(Auction Algorithm)原理及工作过程分析_拍卖算法_一方灯火的博客-CSDN博客

一、原理

二、代码

#include 
#include 
#include 
#include 
#include 
#include 
#include 
 
#define NLINKS 65536
using namespace std;
void CreatRandomEdge(char* filePath, int n1, int n2);
 
typedef struct {
	unsigned u;//first node
	unsigned v;//second node
	unsigned w;//weight of the edge
} edge;
 
typedef struct {
 
	//edge list
	unsigned n1;//number of nodes
	unsigned n2;//number of nodes
	unsigned e;//number of edges
	edge *edges;//list of edges
 
	bool b;//b=1 iff n1>n2
		   //graph
	unsigned *cd;//cumulative degree: (start with 0) length=dim+1
	unsigned *adj;//list of neighbors
	unsigned *w;//weight of the edges
 
} bipgraph;
 
void freebg(bipgraph *g) {
	free(g->edges);
	free(g->cd);
	free(g->adj);
	free(g->w);
	free(g);
}
 
//compute the maximum of two unsigned
inline unsigned max2u(unsigned a, unsigned b) {
	return (a > b) ? a : b;
}
 
//reading the edgelist of bipartit weighted graph from file
//从文件中读取二维加权图的边表
bipgraph* readedgelist(char* edgelist) {
	unsigned e1 = NLINKS;
	bipgraph *g = (bipgraph*)malloc(sizeof(bipgraph));
	FILE *file;
	g->n1 = 0;
	g->n2 = 0;
	g->e = 0;
 
	file = fopen(edgelist, "r");
	g->edges = (edge*)malloc(e1 * sizeof(edge));
	//e1 += NLINKS;
	//g->edges = (edge*)realloc(g->edges, e1 * sizeof(edge));
	while (fscanf(file, "%u %u %u\n", &(g->edges[g->e].u), &(g->edges[g->e].v), &(g->edges[g->e].w)) == 3) {
		g->n1 = max2u(g->n1, g->edges[g->e].u);
		g->n2 = max2u(g->n2, g->edges[g->e].v);
		if (g->e++ == e1) {
			e1 += NLINKS;
			g->edges = (edge*)realloc(g->edges, e1 * sizeof(edge));
		}
	}
	fclose(file);
	g->n1++;
	g->n2++;
	g->edges = (edge*)realloc(g->edges, g->e * sizeof(edge));
	return g;
}
 
//Building a special sparse graph structure
//构建一个特殊的稀疏图结构
void mkbg(bipgraph *g)
{
	unsigned int i, u;
	unsigned int *d;
 
	if (g->n1 <= g->n2)
	{
		g->b = 0;
		d = (unsigned int*)calloc(g->n1, sizeof(unsigned));
		g->cd = (unsigned int*)malloc((g->n1 + 1) * sizeof(unsigned));
		g->adj = (unsigned int*)malloc((g->e) * sizeof(unsigned));
		g->w = (unsigned int*)malloc((g->e) * sizeof(unsigned));
		for (i = 0; i < g->e; i++) {
			d[g->edges[i].u]++;
		}
		g->cd[0] = 0;
		for (i = 1; i < g->n1 + 1; i++) {
			g->cd[i] = g->cd[i - 1] + d[i - 1];
			d[i - 1] = 0;
		}
		for (i = 0; i < g->e; i++) {
			u = g->edges[i].u;
			g->adj[g->cd[u] + d[u]] = g->edges[i].v;
			g->w[g->cd[u] + d[u]++] = g->edges[i].w;
		}
	}
	else
	{
		g->b = 1;
		d = (unsigned int*)calloc(g->n2, sizeof(unsigned));
		g->cd = (unsigned int*)malloc((g->n2 + 1) * sizeof(unsigned));
		g->adj = (unsigned int*)malloc((g->e) * sizeof(unsigned));
		g->w = (unsigned int*)malloc((g->e) * sizeof(unsigned));
 
		//计算n2中每个节点有多少边
		for (i = 0; i < g->e; i++) {
			d[g->edges[i].v]++;
		}
		g->cd[0] = 0;
		for (i = 1; i < g->n2 + 1; i++) {
			g->cd[i] = g->cd[i - 1] + d[i - 1];
			d[i - 1] = 0;
		}
		for (i = 0; i < g->e; i++) {
			u = g->edges[i].v;
			g->adj[g->cd[u] + d[u]] = g->edges[i].u;
			g->w[g->cd[u] + d[u]++] = g->edges[i].w;
		}
		i = g->n1;
		g->n1 = g->n2;
		g->n2 = i;
	}
	free(d);
	free(g->edges);
}
 
//bidding towards convergence
unsigned bidding(bipgraph *g, double eps)
{
	unsigned u, v, w, i, j, k, res;
	double *p = (double*)calloc(g->n2, sizeof(double));//p[i]=price of object i
	unsigned *a = (unsigned int*)malloc(g->n2 * sizeof(unsigned));//a[target]=-1 if not assigned = source if assigned
	unsigned *aw = (unsigned int*)malloc(g->n2 * sizeof(unsigned));//aw[target]=? if not assigned = weigth of edge source-target if assigned
	for (v = 0; v < g->n2; v++) {
		a[v] = -1;
	}
	//set data structure
	unsigned n_set = g->n1;//
	unsigned *l_set = (unsigned int*)malloc(g->n1 * sizeof(unsigned));//
													   //bool *t_set=malloc(g->n1*sizeof(bool));//
	for (u = 0; u < n_set; u++) {
		l_set[u] = u;
		//t_set[u]=1;
	}
 
	//double eps=0.1;//1./((double)(g->n1)+1.);///
	double max, max2;
	unsigned wmax;
 
	res = 0;
	while (n_set > 0)
	{
		u = l_set[n_set - 1];
		//printf("n_set, u, w = %u, %u, %u\n",n_set,u,res);
 
		//找权重最大的一个u（火力点）
		max = 0;
		for (i = g->cd[u]; i < g->cd[u + 1]; i++) {
			v = g->adj[i];
			w = g->w[i];
			//printf("w=%u\n",w);
			if ((double)w - p[v] > max) {
				max = (double)w - p[v];
				wmax = w;
				k = v;
			}
		}
		//printf("max=%f\n",max);
		if (max == 0) {
			n_set--;
			continue;
		}
 
		//找次大的一个u（火力点）
		max2 = 0;
		for (i = g->cd[u]; i < g->cd[u + 1]; i++) {
			v = g->adj[i];
			if (v != k) {
				w = g->w[i];
				if ((double)w - p[v] > max2) {
					max2 = (double)w - p[v];
				}
			}
		}
 
		//printf("max2=%f\n",max2);
		p[k] += max - max2 + eps;
		//printf("k=%u\n",k);
		//printf("p[k]=%f\n",p[k]);
		if (a[k] != -1) {
			l_set[n_set - 1] = a[k];
			res -= aw[k];
		}
		else {
			n_set--;
		}
		a[k] = u;
		aw[k] = wmax;
		res += wmax;
	}
 
	g->edges = (edge*)malloc(g->n1 * sizeof(edge));
	j = 0;
	for (i = 0; i < g->n2; i++) {
		if (a[i] != -1) {
			g->edges[j].u = a[i];
			g->edges[j].v = i;
			g->edges[j++].w = aw[i];
		}
	}
	g->edges = (edge*)realloc(g->edges, j * sizeof(edge));
	g->e = j;
	return res;
}
 
void printres(bipgraph *g, char *output) {
	unsigned i;
	edge ed;
	FILE* file = fopen(output, "w");
	if (g->b) {
		for (i = 0; i < g->e; i++) {
			ed = g->edges[i];
			fprintf(file, "%u %u %u\n", ed.v, ed.u, ed.w);
		}
	}
	else {
		for (i = 0; i < g->e; i++) {
			ed = g->edges[i];
			fprintf(file, "%u %u %u\n", ed.u, ed.v, ed.w);//输出：人序号 任务序号 代价
		}
	}
	fclose(file);
}
 
 
int main(void)
{
	bipgraph* g;
	unsigned w;
	time_t t0, t1, t2;
 
	char* argv[4];
 
	argv[1] = "testEdgesList.txt";
	argv[2] = "testRes.txt";
 
	//随机生成n x n个矩阵对，保存在testEdgesList.txt中
	CreatRandomEdge("testEdgesList.txt", 60, 60);//6 6
 
 
	double eps = 0.01;
 
	printf("Reading edgelist from file %s\n", argv[1]);
	//将矩阵读入矩阵图结构g中
	g = readedgelist(argv[1]);
 
	printf("Number of left nodes: %u\n", g->n1);
	printf("Number of right nodes: %u\n", g->n2);
	printf("Number of edges: %u\n", g->e);
 
	printf("Building datastructure\n");
 
	mkbg(g);
 
 
	printf("计算最优分配\n");
 
	//投标
	w = bidding(g, eps);
 
	printf("最优分配值 = %u\n", w);
 
	printf("Writting the results in file %s\n", argv[2]);
	printres(g, argv[2]);
	freebg(g);
 
	return 0;
}
 
void CreatRandomEdge(char* filePath, int n1, int n2)
{
	ofstream fout;
	fout.open(filePath);
	int edgesNum = n1 * n2;//36
 
	int pI = n1 - 1;//人索引
	for (int i = 0; i < n1; i++)
	{
		for (int j = 0; j < n2; j++)//物品索引
		{
			fout << pI << " " << j << " " << (rand() % edgesNum) << "\n";  //随机生成0~35的随机数
		}
		pI--;
	}
	fout.close();
}