一、无人机模型介绍
单个无人机三维路径规划问题及其建模_无人机路径规划场景建模-CSDN博客
参考文献:
[1]胡观凯,钟建华,李永正,黎万洪.基于IPSO-GA算法的无人机三维路径规划[J].现代电子技术,2023,46(07):115-120
二、蛇鹫优化算法求解无人机路径规划
蛇鹫优化算法(Secretary bird optimization algorithm,SBOA)由 Fu Youfa等人于2024年提出,该算法的灵感来自于蛇鹫在自然环境中的生存行为。
参考文献:
[1]Fu Y, Liu D, Chen J, et al. Secretary bird optimization algorithm: a new metaheuristic for solving global optimization problems[J]. Artificial Intelligence Review, 2024, 57(5): 1-102.
close all clear clc addpath('./Algorithm/')%添加算法路径 warning off; %% 三维路径规划模型定义 global startPos goalPos N N=2;%待优化点的个数(可以修改) startPos = [10, 10, 80]; %起点(可以修改) goalPos = [80, 90, 150]; %终点(可以修改) SearchAgents_no=30; % 种群大小(可以修改) Function_name='F2'; %F1:随机产生地图 F2:导入固定地图 Max_iteration=50; %最大迭代次数(可以修改) % Load details of the selected benchmark function [lb,ub,dim,fobj]=Get_Functions_details(Function_name); [Best_score,Best_pos,curve]=AlgorithmName(SearchAgents_no,Max_iteration,lb,ub,dim,fobj);%算法优化求解 figure semilogy(curve,'Color','g','linewidth',3) xlabel('迭代次数'); ylabel('飞行路径长度'); legend(AlgorithmName) display(['算法得到的最优适应度: ', num2str(Best_score)]); Position=[Best_pos(1:dim/3); Best_pos(1+dim/3:2*(dim/3)); Best_pos(1+(2*dim/3):end)]'; %优化点的XYZ坐标(每一行是一个点) plotFigure(Best_pos,AlgorithmName)%画最优路径
无人机航迹坐标:
1.0000000e+01 1.0000000e+01 8.0000000e+01
1.0619930e+01 1.1523243e+01 8.2208847e+01
1.1220629e+01 1.2984457e+01 8.4357021e+01
1.1803112e+01 1.4385547e+01 8.6445563e+01
1.2368394e+01 1.5728421e+01 8.8475516e+01
1.2917491e+01 1.7014985e+01 9.0447922e+01
1.3451416e+01 1.8247146e+01 9.2363825e+01
1.3971186e+01 1.9426811e+01 9.4224266e+01
1.4477815e+01 2.0555886e+01 9.6030287e+01
1.4972320e+01 2.1636278e+01 9.7782932e+01
1.5455714e+01 2.2669893e+01 9.9483243e+01
1.5929013e+01 2.3658639e+01 1.0113226e+02
1.6393232e+01 2.4604422e+01 1.0273103e+02
1.6849387e+01 2.5509148e+01 1.0428059e+02
1.7298493e+01 2.6374725e+01 1.0578199e+02
1.7741563e+01 2.7203059e+01 1.0723627e+02
1.8179615e+01 2.7996056e+01 1.0864447e+02
1.8613663e+01 2.8755624e+01 1.1000763e+02
1.9044722e+01 2.9483668e+01 1.1132679e+02
1.9473807e+01 3.0182096e+01 1.1260301e+02
1.9901934e+01 3.0852815e+01 1.1383731e+02
2.0330117e+01 3.1497730e+01 1.1503075e+02
2.0759372e+01 3.2118749e+01 1.1618436e+02
2.1190713e+01 3.2717778e+01 1.1729920e+02
2.1625157e+01 3.3296725e+01 1.1837629e+02
2.2063718e+01 3.3857494e+01 1.1941668e+02
2.2507411e+01 3.4401995e+01 1.2042142e+02
2.2957252e+01 3.4932132e+01 1.2139155e+02
2.3414256e+01 3.5449813e+01 1.2232811e+02
2.3879437e+01 3.5956944e+01 1.2323214e+02
2.4353811e+01 3.6455432e+01 1.2410468e+02
2.4838393e+01 3.6947183e+01 1.2494679e+02
2.5334198e+01 3.7434105e+01 1.2575949e+02
2.5842242e+01 3.7918104e+01 1.2654384e+02
2.6363540e+01 3.8401087e+01 1.2730087e+02
2.6899106e+01 3.8884960e+01 1.2803163e+02
2.7449955e+01 3.9371630e+01 1.2873715e+02
2.8017104e+01 3.9863004e+01 1.2941850e+02
2.8601567e+01 4.0360987e+01 1.3007669e+02
2.9204360e+01 4.0867488e+01 1.3071279e+02
2.9826496e+01 4.1384413e+01 1.3132782e+02
3.0468993e+01 4.1913668e+01 1.3192284e+02
3.1132864e+01 4.2457160e+01 1.3249888e+02
3.1819124e+01 4.3016795e+01 1.3305698e+02
3.2528790e+01 4.3594481e+01 1.3359820e+02
3.3262877e+01 4.4192124e+01 1.3412357e+02
3.4022398e+01 4.4811630e+01 1.3463414e+02
3.4808370e+01 4.5454907e+01 1.3513094e+02
3.5621808e+01 4.6123861e+01 1.3561502e+02
3.6463726e+01 4.6820398e+01 1.3608743e+02
3.7335141e+01 4.7546426e+01 1.3654919e+02
3.8237066e+01 4.8303851e+01 1.3700137e+02
3.9170518e+01 4.9094579e+01 1.3744500e+02
4.0136511e+01 4.9920518e+01 1.3788111e+02
4.1136061e+01 5.0783574e+01 1.3831076e+02
4.2170182e+01 5.1685653e+01 1.3873499e+02
4.3239890e+01 5.2628663e+01 1.3915484e+02
4.4346201e+01 5.3614510e+01 1.3957135e+02
4.5490128e+01 5.4645101e+01 1.3998557e+02
4.6672688e+01 5.5722341e+01 1.4039853e+02
4.7894895e+01 5.6848139e+01 1.4081128e+02
4.9157765e+01 5.8024401e+01 1.4122486e+02
5.0462313e+01 5.9253033e+01 1.4164032e+02
5.1809553e+01 6.0535942e+01 1.4205869e+02
5.3200502e+01 6.1875034e+01 1.4248102e+02
5.4636173e+01 6.3272217e+01 1.4290836e+02
5.6117583e+01 6.4729397e+01 1.4334174e+02
5.7645747e+01 6.6248481e+01 1.4378220e+02
5.9221679e+01 6.7831375e+01 1.4423080e+02
6.0846396e+01 6.9479986e+01 1.4468856e+02
6.2520911e+01 7.1196221e+01 1.4515654e+02
6.4246240e+01 7.2981986e+01 1.4563578e+02
6.6023398e+01 7.4839188e+01 1.4612731e+02
6.7853401e+01 7.6769734e+01 1.4663219e+02
6.9737264e+01 7.8775530e+01 1.4715145e+02
7.1676001e+01 8.0858483e+01 1.4768614e+02
7.3670628e+01 8.3020500e+01 1.4823729e+02
7.5722160e+01 8.5263488e+01 1.4880596e+02
7.7831612e+01 8.7589352e+01 1.4939318e+02
8.0000000e+01 9.0000000e+01 1.5000000e+02
算法得到的最优适应度: 136.7175
三、完整MATLAB代码
无人机航迹规划:蛇鹫优化算法SBOA求解无人机路径规划MATLAB