猎人猎物优化算法 HPO算法（含MATLAB代码）优化无人机编队静态全局规划+动态避障问题

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已于 2023-08-20 16:43:37 修改

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文章标签：算法无人机动态规划 matlab 启发式算法开发语言

于 2023-08-20 16:38:21 首次发布

本文链接：https://blog.csdn.net/qq_17633137/article/details/132393194

版权

（1）全局规划算法：

猎人猎物算法 HPO：Naruei I, Keynia F, Sabbagh Molahosseini A. Hunter–prey optimization: Algorithm and applications[J]. Soft Computing, 2022, 26(3): 1279-1314.

function [res]=HPO(lb,ub,popsize,gensize,callfit,data)
    delta = 0.1;
    BESTY=inf;
    Lb = repmat(lb,popsize,1);
    Ub = repmat(ub,popsize,1);
    dim = length(lb); 
    x = lb+(ub-lb).*rand(popsize,dim);
    y = zeros(1,popsize);
    for i = 1:popsize
        y(i)=callfit(x(i,:),data);
    end
    [bestY,minid] = min(y);
    Tpos = x(minid,:);
    trace = zeros(1,gensize);
    for gen = 1:gensize
        gen
        C = 1-gen/gensize*0.98;
        miu = mean(x,1);
        Deuc = pdist2(x,miu);
        [~,id] = sort(Deuc,'ascend');
        kbest = round(C*popsize);
        Ppos = x(id(kbest),:);
        for i = 1:popsize
            P = rand(1,dim)<C;
            Z = rand(1,dim).*(P==0)+rand(1,dim).*(~(P==0));
                for j = 1:dim
                    if rand<delta
                        x(i,j)=x(i,j)+0.5*((2*C*Z(j)*Ppos(j)-x(i,j))+(2*(1-C)*Z(j)*miu(j)-x(i,j)));
                    else
                        x(i,j)=Tpos(j)+C.*Z(j).*cos(2*pi*(rand()*2-1))*(Tpos(j)-x(i,j));
                    end
                end
        end
        x(x<Lb)=Lb(x<Lb);x(x>Ub)=Ub(x>Ub);
        for i = 1:popsize
            y(i)=callfit(x(i,:),data);
        end
        [bestY,minid] = min(y);
        Tpos = x(minid,:);
        if bestY<BESTY
            BESTX=Tpos;
            BESTY=bestY;
        end
        trace(gen) = BESTY;
    end
    res.y=BESTY;
    res.x=BESTX;
    res.trace=trace;
end

（2）动态避障算法：

改进引力势场法：王翼虎. 电力巡检旋翼无人机航迹规划研究[D].兰州交通大学,2020.DOI:10.27205/d.cnki.gltec.2020.000310.

（3）最终效果：