一、无人机模型简介

单个无人机三维路径规划问题及其建模_IT猿手的博客-CSDN博客

二、孔雀优化算法POA介绍

孔雀优化算法( Peafowl Optimization Algorithm, POA), 是由 Jingbo Wang 等于2022 年提出的一种群体智能优化算法。其灵感来源于孔雀的群体行为。

智能优化算法：孔雀优化算法

三、孔雀优化算法POA求解无人机集群路径规划

（1）部分代码：可以修改无人机的个数，自动生成地图和采用同一种地图可以按照自己需求随意切换，可以修改无人机的起始点。以6个无人机为例：

close all
clear  
clc
%% 三维路径规划模型定义
global startPos goalPos N num
num=6;%无人机的数量
N=1;%待优化点的个数(可以修改)
goalPos = [80, 90, 170]; %终点(可以修改)
startPos = [10, 10, 90]; %起点(可以修改)SearchAgents_no=50; % 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=100; %最大迭代次数(可以修改)
[lb,ub,dim,fobj]=Get_Functions_details(Function_name);
[Best_score,Best_pos,curve]=POA(SearchAgents_no,Max_iteration,lb,ub,dim,fobj);

（2）部分结果：以6个无人机为例

第一个无人机飞行轨迹坐标：

10 10 90

11.8041765903043 10.8430847307858 95.7094504901538

13.6518972172617 11.8229934586336 101.208127423129

15.5431618808723 12.9397261835436 106.496030798926

17.4779705811360 14.1932829055156 111.573160617544

19.4563233180529 15.5836636245498 116.439516878984

21.4782200916229 17.1108683406461 121.095099583246

23.5436609018460 18.7748970538044 125.539908730329

25.6526457487223 20.5757497640249 129.773944320233

27.8051746322518 22.5134264713075 133.797206352959

30.0012475524343 24.5879271756521 137.609694828507

32.2408645092700 26.7992518770589 141.211409746876

34.5240255027589 29.1474005755278 144.602351108066

36.8507305329009 31.6323732710587 147.782518912079

39.2209795996960 34.2541699636518 150.751913158912

41.6347727031443 37.0127906533070 153.510533848567

44.0921098432457 39.9082353400243 156.058380981044

46.5929910200003 42.9405040238036 158.395454556342

49.1374162334080 46.1095967046451 160.521754574462

51.7253854834688 49.4155133825487 162.437281035403

54.3568987701828 52.8582540575144 164.142033939166

57.0319560935499 56.4378187295421 165.636013285751

59.7505574535702 60.1542073986320 166.919219075156

62.5127028502436 64.0074200647840 167.991651307384

65.3183922835702 67.9974567279981 168.853309982433

68.1676257535498 72.1243173882743 169.504195100303

71.0604032601827 76.3880020456125 169.944306660995

73.9967248034686 80.7885107000129 170.173644664508

76.9765903834078 85.3258433514754 170.192209110843

80 90 170

第二个无人机飞行轨迹坐标：

10 10 90

12.0164256252108 11.2964364814622 95.5218575772176

14.0612346417243 12.6973146920810 100.846341091038

16.1344270495404 14.2026346318564 105.973450541461

18.2360028486592 15.8123963007885 110.903185928487

20.3659620390807 17.5265996988772 115.635547252115

22.5243046208049 19.3452448261226 120.170534512346

24.7110305938318 21.2683316825246 124.508147709180

26.9261399581613 23.2958602680833 128.648386842616

29.1696327137935 25.4278305827986 132.591251912655

31.4415088607284 27.6642426266706 136.336742919297

33.7417683989660 30.0050963996992 139.884859862541

36.0704113285062 32.4503919018844 143.235602742389

38.4274376493491 35.0001291332263 146.388971558838

40.8128473614947 37.6543080937248 149.344966311891

43.2266404649430 40.4129287833800 152.103587001546

45.6688169596939 43.2759912021918 154.664833627804

48.1393768457476 46.2434953501603 157.028706190664

50.6383201231039 49.3154412272854 159.195204690128

53.1656467917629 52.4918288335671 161.164329126194

55.7213568517245 55.7726581690055 162.936079498862

58.3054503029889 59.1579292336006 164.510455808133

60.9179271455559 62.6476420273522 165.887458054007

63.5587873794256 66.2417965502606 167.067086236484

66.2280310045980 69.9403928023255 168.049340355563

68.9256580210730 73.7434307835471 168.834220411245

71.6516684288508 77.6509104939254 169.421726403530

74.4060622279311 81.6628319334603 169.811858332417

77.1888394183143 85.7791951021518 170.004616197907

80 90 170

第三个无人机飞行轨迹坐标：

10 10 90

14.0041851596044 12.7662036810019 92.7865356556672

17.8947708866262 15.5318657197647 95.5710773851906

21.6717571810654 18.2969861162885 98.3536251885704

25.3351440429220 21.0615648705732 101.134179065806

28.8849314721961 23.8256019826189 103.912739016899

32.3211194688876 26.5890974524256 106.689305041847

35.6437080329965 29.3520512799931 109.463877140652

38.8526971645228 32.1144634653217 112.236455313313

41.9480868634666 34.8763340084112 115.007039559831

44.9298771298277 37.6376629092616 117.775629880205

47.7980679636063 40.3984501678730 120.542226274435

50.5526593648023 43.1586957842453 123.306828742521

53.1936513334158 45.9183997583786 126.069437284463

55.7210438694466 48.6775620902728 128.830051900262

58.1348369728949 51.4361827799280 131.588672589918

60.4350306437606 54.1942618273441 134.345299353429

62.6216248820437 56.9517992325211 137.099932190797

64.6946196877443 59.7087949954592 139.852571102021

66.6540150608622 62.4652491161581 142.603216087101

68.4998110013976 65.2211615946181 145.351867146038

70.2320075093504 67.9765324308389 148.098524278831

71.8506045847206 70.7313616248207 150.843187485480

73.3556022275083 73.4856491765635 153.585856765985

74.7470004377133 76.2393950860672 156.326532120347

76.0247992153358 78.9925993533319 159.065213548565

77.1889985603757 81.7452619783575 161.801901050639

78.2395984728331 84.4973829611440 164.536594626570

79.1765989527078 87.2489623016916 167.269294276357

80 90 170

第四个无人机飞行轨迹坐标：

10 10 90

13.1574222653453 11.9968655692661 93.4465305953246

16.2617281619838 14.0481422185600 96.8439247688156

19.3129176899152 16.1538299478817 100.192182520473

22.3109908491398 18.3139287572312 103.491303850297

25.2559476396574 20.5284386466085 106.741288758288

28.1477880614681 22.7973596160135 109.942137244444

30.9865121145718 25.1206916654464 113.093849308768

33.7721197989686 27.4984347949070 116.196424951258

36.5046111146585 29.9305890043955 119.249864171914

39.1839860616414 32.4171542939117 122.254166970737

41.8102446399174 34.9581306634557 125.209333347726

44.3833868494865 37.5535181130275 128.115363302882

46.9034126903487 40.2033166426271 130.972256836204

49.3703221625039 42.9075262522545 133.780013947693

51.7841152659521 45.6661469419096 136.538634637348

54.1447920006935 48.4791787115926 139.248118905170

56.4523523667279 51.3466215613034 141.908466751158

58.7067963640554 54.2684754910419 144.519678175312

60.9081239926759 57.2447405008082 147.081753177633

63.0563352525895 60.2754165906024 149.594691758121

65.1514301437962 63.3605037604243 152.058493916775

67.1934086662959 66.5000020102740 154.473159653595

69.1822708200888 69.6939113401515 156.838688968582

71.1180166051746 72.9422317500567 159.155081861736

73.0006460215536 76.2449632399898 161.422338333056

74.8301590692256 79.6021058099507 163.640458382542

76.6065557481907 83.0136594599393 165.809442010195

78.3298360584488 86.4796241899558 167.929289216014

80 90 170

第五个无人机飞行轨迹坐标：

10 10 90

11.4430439150901 10.2866306322833 92.6722764498318

12.9554270579200 10.7498319829504 95.3507203453653

14.5371494284899 11.3896040520011 98.0353316866004

16.1882110267996 12.2059468394355 100.726110473537

17.9086118528492 13.1988603452537 103.423056706176

19.6983519066386 14.3683445694555 106.126170384516

21.5574311881679 15.7143995120411 108.835451508558

23.4858496974371 17.2370251730103 111.550900078301

25.4836074344461 18.9362215523633 114.272516093746

27.5507043991951 20.8119886500999 117.000299554893

29.6871405916839 22.8643264662203 119.734250461742

31.8929160119125 25.0932350007243 122.474368814292

34.1680306598811 27.4987142536121 125.220654612544

36.5124845355895 30.0807642248836 127.973107856497

38.9262776390377 32.8393849145388 130.731728546152

41.4094099702259 35.7745763225776 133.496516681509

43.9618815291539 38.8863384490002 136.267472262568

46.5836923158218 42.1746712938065 139.044595289328

49.2748423302295 45.6395748569965 141.827885761790

52.0353315723772 49.2810491385702 144.617343679953

54.8651600422647 53.0990941385276 147.412969043818

57.7643277398920 57.0937098568686 150.214761853385

60.7328346652593 61.2648962935935 153.022722108654

63.7706808183664 65.6126534487020 155.836849809624

66.8778661992134 70.1369813221942 158.657144956296

70.0543908078002 74.8378799140701 161.483607548669

73.3002546441269 79.7153492243297 164.316237586745

76.6154577081936 84.7693892529730 167.155035070521

80 90 170

第六个无人机飞行轨迹坐标：

10 10 90

14.1209814179771 12.1676180371927 92.5919125748743

18.1200208134878 14.3774505495614 95.1957328722330

21.9971181865322 16.6294975371059 97.8114608920761

25.7522735371103 18.9237589998263 100.439096634403

29.3854868652220 21.2602349377226 103.078640099215

32.8967581708674 23.6389253507947 105.730091286511

36.2860874540464 26.0598302390428 108.393450196292

39.5534747147591 28.5229496024667 111.068716828556

42.6989199530054 31.0282834410666 113.755891183306

45.7224231687854 33.5758317548423 116.454973260539

48.6239843620991 36.1655945437939 119.165963060257

51.4036035329464 38.7975718079214 121.888860582459

54.0612806813273 41.4717635472248 124.623665827145

56.5970158072420 44.1881697617041 127.370378794316

59.0108089106902 46.9467904513593 130.128999483971

61.3026599916722 49.7476256161904 132.899527896111

63.4725690501878 52.5906752561973 135.681964030735

65.5205360862370 55.4759393713801 138.476307887843

67.4465610998199 58.4034179617389 141.282559467435

69.2506440909365 61.3731110272735 144.100718769512

70.9327850595867 64.3850185679840 146.930785794074

72.4929840057705 67.4391405838704 149.772760541119

73.9312409294881 70.5354770749327 152.626643010649

75.2475558307392 73.6740280411708 155.492433202663

76.4419287095241 76.8547934825849 158.370131117162

77.5143595658426 80.0777733991748 161.259736754145

78.4648483996947 83.3429677909407 164.161250113612

79.2933952110805 86.6503766578824 167.074671195564

80 90 170

四、完整MATLAB代码