无人机航迹规划：鹅优化算法（GOOSE Algorithm，GOOSE)求解无人机路径规划，MATLAB代码-CSDN博客

本文链接：https://blog.csdn.net/weixin_46204734/article/details/139906134

一、无人机模型介绍

[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、鹅优化算法求解无人机路径规划

鹅优化算法（GOOSE Algorithm，GOOSE)从鹅的休息和觅食行为获得灵感，当鹅听到任何奇怪的声音或动作时，它们会发出响亮的声音来唤醒群中的个体，并保证它们的安全。

参考文献

[1]Hamad R K, Rashid T A. GOOSE algorithm: a powerful optimization tool for real-world engineering challenges and beyond[J]. Evolving Systems, 2024: 1-26.

原文链接：https://blog.csdn.net/weixin_46204734/article/details/139904818

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
1.2791645e+01 1.1747076e+01 8.7878644e+01
1.5452353e+01 1.3386251e+01 9.5487789e+01
1.7985322e+01 1.4920996e+01 1.0283095e+02
2.0393749e+01 1.6354782e+01 1.0991164e+02
2.2680833e+01 1.7691078e+01 1.1673337e+02
2.4849771e+01 1.8933354e+01 1.2329966e+02
2.6903761e+01 2.0085082e+01 1.2961403e+02
2.8846001e+01 2.1149730e+01 1.3567998e+02
3.0679689e+01 2.2130770e+01 1.4150103e+02
3.2408022e+01 2.3031671e+01 1.4708070e+02
3.4034197e+01 2.3855904e+01 1.5242250e+02
3.5561414e+01 2.4606940e+01 1.5752994e+02
3.6992869e+01 2.5288247e+01 1.6240654e+02
3.8331761e+01 2.5903296e+01 1.6705582e+02
3.9581287e+01 2.6455559e+01 1.7148128e+02
4.0744644e+01 2.6948504e+01 1.7568644e+02
4.1825032e+01 2.7385602e+01 1.7967482e+02
4.2825647e+01 2.7770323e+01 1.8344994e+02
4.3749687e+01 2.8106139e+01 1.8701529e+02
4.4600350e+01 2.8396517e+01 1.9037441e+02
4.5380834e+01 2.8644930e+01 1.9353080e+02
4.6094336e+01 2.8854847e+01 1.9648798e+02
4.6744055e+01 2.9029738e+01 1.9924947e+02
4.7333188e+01 2.9173074e+01 2.0181877e+02
4.7864933e+01 2.9288325e+01 2.0419940e+02
4.8342487e+01 2.9378961e+01 2.0639487e+02
4.8769049e+01 2.9448452e+01 2.0840871e+02
4.9147816e+01 2.9500269e+01 2.1024443e+02
4.9481986e+01 2.9537882e+01 2.1190553e+02
4.9774757e+01 2.9564760e+01 2.1339553e+02
5.0029326e+01 2.9584375e+01 2.1471796e+02
5.0248891e+01 2.9600196e+01 2.1587631e+02
5.0436651e+01 2.9615693e+01 2.1687412e+02
5.0595802e+01 2.9634338e+01 2.1771488e+02
5.0729543e+01 2.9659600e+01 2.1840212e+02
5.0841071e+01 2.9694949e+01 2.1893935e+02
5.0933585e+01 2.9743855e+01 2.1933009e+02
5.1010281e+01 2.9809789e+01 2.1957784e+02
5.1074358e+01 2.9896222e+01 2.1968613e+02
5.1129013e+01 3.0006622e+01 2.1965846e+02
5.1177445e+01 3.0144461e+01 2.1949835e+02
5.1222851e+01 3.0313208e+01 2.1920933e+02
5.1268428e+01 3.0516335e+01 2.1879489e+02
5.1317375e+01 3.0757310e+01 2.1825856e+02
5.1372889e+01 3.1039605e+01 2.1760385e+02
5.1438168e+01 3.1366689e+01 2.1683427e+02
5.1516410e+01 3.1742033e+01 2.1595334e+02
5.1610813e+01 3.2169107e+01 2.1496457e+02
5.1724574e+01 3.2651381e+01 2.1387148e+02
5.1860891e+01 3.3192326e+01 2.1267758e+02
5.2022962e+01 3.3795411e+01 2.1138639e+02
5.2213985e+01 3.4464107e+01 2.1000141e+02
5.2437157e+01 3.5201884e+01 2.0852617e+02
5.2695677e+01 3.6012213e+01 2.0696419e+02
5.2992742e+01 3.6898563e+01 2.0531896e+02
5.3331549e+01 3.7864404e+01 2.0359401e+02
5.3715297e+01 3.8913208e+01 2.0179286e+02
5.4147183e+01 4.0048444e+01 1.9991901e+02
5.4630405e+01 4.1273582e+01 1.9797598e+02
5.5168161e+01 4.2592093e+01 1.9596729e+02
5.5763649e+01 4.4007447e+01 1.9389644e+02
5.6420067e+01 4.5523114e+01 1.9176697e+02
5.7140611e+01 4.7142564e+01 1.8958237e+02
5.7928480e+01 4.8869268e+01 1.8734616e+02
5.8786872e+01 5.0706696e+01 1.8506186e+02
5.9718985e+01 5.2658317e+01 1.8273298e+02
6.0728016e+01 5.4727603e+01 1.8036304e+02
6.1817163e+01 5.6918023e+01 1.7795555e+02
6.2989624e+01 5.9233048e+01 1.7551402e+02
6.4248596e+01 6.1676148e+01 1.7304198e+02
6.5597277e+01 6.4250792e+01 1.7054292e+02
6.7038866e+01 6.6960452e+01 1.6802038e+02
6.8576560e+01 6.9808598e+01 1.6547786e+02
7.0213556e+01 7.2798699e+01 1.6291887e+02
7.1953053e+01 7.5934227e+01 1.6034694e+02
7.3798248e+01 7.9218650e+01 1.5776557e+02
7.5752339e+01 8.2655440e+01 1.5517828e+02
7.7818524e+01 8.6248067e+01 1.5258858e+02
8.0000000e+01 9.0000000e+01 1.5000000e+02
算法得到的最优适应度: 245.7576