【无人机三维路径规划】基于粒子群算法实现无人机三维路径规划含Matlab源码

1 简介

无人机作为侦察和作战的重要手段,重要的是保证侦察目标的准确性,对任务/航迹规划系统是无人机实现自主飞行和自主攻击的关键技术.在给出无人机航迹规划问题描述的基础上,提出一种基于粒子群优化算法的无人机航迹规划方法,利用粒子群优化算法,将约束条件和搜索算法相结合,从而有效减小搜索空间,得到一条全局最优路径并进行仿真.仿真结果表明,规划方法能够快速有效地完成规划任务,获得满意的航迹,满足无人机作战要求,具有重要的现实意义.

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2 部分代码

% Plot the terrain model and threatsfunction PlotModel(model)​    mesh(model.X,model.Y,model.H); % Plot the data    colormap summer;                    % Default color map.    set(gca, 'Position', [0 0 1 1]); % Fill the figure window.    axis equal vis3d on;            % Set aspect ratio and turn off axis.    shading interp;                  % Interpolate color across faces.    material dull;                   % Mountains aren't shiny.    camlight left;                   % Add a light over to the left somewhere.    lighting gouraud;                % Use decent lighting.    xlabel('x [m]');    ylabel('y [m]');    zlabel('z [m]');    hold on​       % Threats as cylinders    threats = model.threats;    threat_num = size(threats,1);    h=250; % Height        for i = 1:threat_num        threat = threats(i,:);        threat_x = threat(1);        threat_y = threat(2);        threat_z = threat(3);        threat_radius = threat(4);​​        [xc,yc,zc]=cylinder(threat_radius); % create a unit cylinder        % set the center and height         xc=xc+threat_x;          yc=yc+threat_y;        zc=zc*h+threat_z;        c = mesh(xc,yc,zc); % plot the cylinder %         set(c,'edgecolor','none','facecolor','#FF0000','FaceAlpha',.3); % set color and transparency        set(c,'edgecolor','flat','facecolor','k','FaceAlpha',.3); % set color and transparency​    end​end

3 仿真结果

4 参考文献

[1]江冰, 郭彭. 基于粒子群算法的三维无人机路径规划方法及规划系统:, CN112230678A[P]. 2021.

博主简介：擅长智能优化算法、神经网络预测、信号处理、元胞自动机、图像处理、路径规划、无人机等多种领域的Matlab仿真，相关matlab代码问题可私信交流。

部分理论引用网络文献，若有侵权联系博主删除。