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、烟花算法(FWA)求解无人机路径规划
参考文献：
Tan, Y. and Y. Zhu. Fireworks Algorithm for Optimization. in Advances in Swarm Intelligence. 2010. Berlin, Heidelberg: Springer Berlin Heidelberg.
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
无人机路径坐标：
1.0000000e+01 1.0000000e+01 8.0000000e+01
1.6682488e+01 1.0798911e+01 8.9683285e+01
2.3035593e+01 1.1640361e+01 9.8904398e+01
2.9066357e+01 1.2522906e+01 1.0767256e+02
3.4781823e+01 1.3445101e+01 1.1599698e+02
4.0189034e+01 1.4405504e+01 1.2388689e+02
4.5295032e+01 1.5402669e+01 1.3135150e+02
5.0106859e+01 1.6435155e+01 1.3840002e+02
5.4631558e+01 1.7501515e+01 1.4504169e+02
5.8876172e+01 1.8600308e+01 1.5128571e+02
6.2847742e+01 1.9730089e+01 1.5714131e+02
6.6553312e+01 2.0889414e+01 1.6261770e+02
6.9999923e+01 2.2076839e+01 1.6772410e+02
7.3194619e+01 2.3290921e+01 1.7246972e+02
7.6144442e+01 2.4530215e+01 1.7686380e+02
7.8856434e+01 2.5793279e+01 1.8091554e+02
8.1337638e+01 2.7078667e+01 1.8463417e+02
8.3595096e+01 2.8384937e+01 1.8802890e+02
8.5635850e+01 2.9710645e+01 1.9110895e+02
8.7466944e+01 3.1054346e+01 1.9388353e+02
8.9095420e+01 3.2414597e+01 1.9636188e+02
9.0528319e+01 3.3789954e+01 1.9855320e+02
9.1772686e+01 3.5178974e+01 2.0046671e+02
9.2835561e+01 3.6580212e+01 2.0211164e+02
9.3723989e+01 3.7992225e+01 2.0349719e+02
9.4445010e+01 3.9413568e+01 2.0463260e+02
9.5005668e+01 4.0842799e+01 2.0552707e+02
9.5413005e+01 4.2278472e+01 2.0618982e+02
9.5674063e+01 4.3719146e+01 2.0663008e+02
9.5795886e+01 4.5163374e+01 2.0685706e+02
9.5785515e+01 4.6609715e+01 2.0687999e+02
9.5649993e+01 4.8056724e+01 2.0670806e+02
9.5396362e+01 4.9502956e+01 2.0635052e+02
9.5031666e+01 5.0946969e+01 2.0581657e+02
9.4562945e+01 5.2387319e+01 2.0511543e+02
9.3997244e+01 5.3822562e+01 2.0425633e+02
9.3341604e+01 5.5251253e+01 2.0324847e+02
9.2603068e+01 5.6671949e+01 2.0210108e+02
9.1788679e+01 5.8083207e+01 2.0082338e+02
9.0905478e+01 5.9483582e+01 1.9942458e+02
8.9960509e+01 6.0871631e+01 1.9791391e+02
8.8960813e+01 6.2245910e+01 1.9630057e+02
8.7913434e+01 6.3604975e+01 1.9459379e+02
8.6825414e+01 6.4947382e+01 1.9280280e+02
8.5703794e+01 6.6271688e+01 1.9093679e+02
8.4555619e+01 6.7576448e+01 1.8900501e+02
8.3387930e+01 6.8860219e+01 1.8701665e+02
8.2207769e+01 7.0121558e+01 1.8498094e+02
8.1022180e+01 7.1359019e+01 1.8290711e+02
7.9838204e+01 7.2571160e+01 1.8080436e+02
7.8662884e+01 7.3756536e+01 1.7868191e+02
7.7503264e+01 7.4913704e+01 1.7654899e+02
7.6366384e+01 7.6041220e+01 1.7441481e+02
7.5259288e+01 7.7137640e+01 1.7228859e+02
7.4189017e+01 7.8201521e+01 1.7017955e+02
7.3162616e+01 7.9231418e+01 1.6809691e+02
7.2187125e+01 8.0225888e+01 1.6604988e+02
7.1269588e+01 8.1183486e+01 1.6404769e+02
7.0417047e+01 8.2102770e+01 1.6209954e+02
6.9636545e+01 8.2982295e+01 1.6021467e+02
6.8935123e+01 8.3820618e+01 1.5840228e+02
6.8319825e+01 8.4616294e+01 1.5667160e+02
6.7797693e+01 8.5367880e+01 1.5503185e+02
6.7375769e+01 8.6073932e+01 1.5349224e+02
6.7061097e+01 8.6733007e+01 1.5206199e+02
6.6860717e+01 8.7343660e+01 1.5075032e+02
6.6781674e+01 8.7904447e+01 1.4956644e+02
6.6831008e+01 8.8413925e+01 1.4851959e+02
6.7015764e+01 8.8870651e+01 1.4761896e+02
6.7342983e+01 8.9273179e+01 1.4687379e+02
6.7819708e+01 8.9620067e+01 1.4629329e+02
6.8452981e+01 8.9909870e+01 1.4588668e+02
6.9249844e+01 9.0141145e+01 1.4566318e+02
7.0217341e+01 9.0312448e+01 1.4563200e+02
7.1362514e+01 9.0422335e+01 1.4580237e+02
7.2692405e+01 9.0469363e+01 1.4618350e+02
7.4214056e+01 9.0452087e+01 1.4678461e+02
7.5934511e+01 9.0369064e+01 1.4761491e+02
7.7860811e+01 9.0218849e+01 1.4868364e+02
8.0000000e+01 9.0000000e+01 1.5000000e+02
算法得到的路径长度: 259.2674
三、完整MATLAB代码
