无人机路径规划山区模型
本文主要给出了无人机山地建模的一种Matlab实现。
clear;clc;
x=0:2:70;
[X,Y]=meshgrid(x);
Zm = zeros(size(X));
H = [0.8 2 3 1.8 1.8 1.5];
X0 = [15 40 50 60 20 60];
Y0 = [12 25 65 30 45 62];
Xs = [5 9 6 5 5 4];
Ys = [5 8 10 7 5 6];
for i = 1:6
for ii = 1:size(X,1)
for jj = 1:size(X,2)
Zt(ii,jj) = H(i)*exp(-((X(ii,jj)-X0(i))/Xs(i))^2-((Y(ii,jj)-Y0(i))/Ys(i))^2);
end
end
Zm = max(Zt,Zm);
end
% 模拟山区地形起伏
for ii = 1:size(X,1)
for jj =1:size(X,2)
Ft(ii,jj) = 0.01*(sin(Y(ii,jj)+6)+6*sin(X(ii,jj))+cos(1.1*sqrt((X(ii,jj))^2+(Y(ii,jj))^2))+1.5*sin(Y(ii,jj))+2*sin(5*sqrt((X(ii,jj))^2+(Y(ii,jj))^2))+6*cos(Y(ii,jj)));
end
end
Zm = Zm + Ft;
% Z=sqrt(X.^2+Y.^2);
meshz(X,Y,Zm)
colormap summer;
% axis equal vis3d on;
shading interp;
material dull;
camlight left;
lighting gouraud;
axis([0 70 0 70 0 3])
效果图如下:
参考文献
[1]吕石磊,范仁杰,李震,陈嘉鸿,谢家兴.基于改进蝙蝠算法和圆柱坐标系的农业无人机航迹规划[J/OL].农业机械学报.https://kns.cnki.net/kcms/detail//11.1964.S.20221201.0920.001.html
[2]张姝,汤淼.改进PSO 算法及在无人机路径规划中的应用.计算机系统应用. http://www.c-s-a.org.cn/1003-3254/9025.html