五种算法（BWO、RUN、SO、HO、GWO）求解复杂城市地形下无人机路径规划，可以修改障碍物及起始点（MATLAB）

一、算法介绍

（1）白鲸优化算法BWO

参考文献：Zhong C, Li G, Meng Z. Beluga whale optimization: A novel nature-inspired metaheuristic algorithm[J]. Knowledge-Based Systems, 2022, 109215.

（2）龙格-库塔优化算法 RUN

参考文献： Iman Ahmadianfar, Ali Asghar Heidari, Amir H. Gandomi, Xuefeng Chu, Huiling Chen. RUN beyond the metaphor: An efficient optimization algorithm based on Runge Kutta method[J]. Expert Systems with Applications, 2021, 181(115079): 0957-4174.

（3）蛇优化算法SO

参考文献：Hashim, F. A., & Hussien, A. G. (2022). Snake Optimizer: A novel meta-heuristic optimization algorithm.Knowledge-Based Systems, 108320.

（4）海马优化算法HO

参考文献：Zhao, S., Zhang, T., Ma, S. et al. Sea-horse optimizer: a novel nature-inspired meta-heuristic for global optimization problems. Appl Intell (2022). Sea-horse optimizer: a novel nature-inspired meta-heuristic for global optimization problems | Applied Intelligence

（5）灰狼优化算法GWO

参考文献：Seyedali Mirjalili,Seyed Mohammad Mirjalili,Andrew Lewis. Grey Wolf Optimizer[J]. Advances in Engineering Software,2014,69.

二、部分代码

close all
clear
clc
rng('default');
%% 载入数据
data.E=[50,950,12];     %起点位置 横坐标与纵坐标需为50的倍数
data.S=[950,50,1]; %终点点位置 横坐标与纵坐标需为50的倍数
data.Obstacle=xlsread('data1.xls');
data.numObstacles=length(data.Obstacle(:,1));
data.mapSize=[1000,1000,20]; %10m 地图尺寸
data.unit=[50,50,1]; %地图精度
data.S0=ceil(data.S./data.unit);
data.E0=ceil(data.E./data.unit);
data.mapSize0=data.mapSize./data.unit;
data.map=zeros(data.mapSize0);
%% 算法设置
SearchAgents_no=30; %  种群大小
Max_iteration=30;% 最大迭代次数
ColorStr={'r-','b--','c-.','g-.','m-'};%颜色
%% 画图
PlotFigure;
%% 显示路径信息
for i=1:length(AlgorithName)fprintf(AlgorithName{i});fprintf("路径坐标:\n");display(Result(i).path)fprintf(AlgorithName{i});fprintf("路径长度:%f\n",Result(i).fit);
end

三、部分结果

BWO路径坐标:
950 50 1
900 100 2
850 150 3
800 200 4
750 200 5
700 250 5
650 300 6
600 300 7
550 300 7
500 350 8
500 400 8
500 450 8
500 500 8
450 550 9
450 600 9
450 650 9
400 700 9
350 700 9
300 750 10
250 800 11
200 850 12
150 900 12
100 900 12
50 950 12

BWO路径长度:1419.322450
RUN路径坐标:
950 50 1
950 50 2
900 100 3
850 150 3
800 200 4
750 250 5
700 250 6
650 300 6
600 300 7
550 300 8
500 350 8
450 350 7
450 400 8
450 450 8
500 500 9
500 550 10
500 600 11
450 650 10
400 700 9
350 700 10
300 700 9
300 750 10
250 700 11
200 750 10
150 800 11
150 850 12
100 900 13
50 950 12

RUN路径长度:1591.137261
SO路径坐标:
950 50 1
900 100 2
850 150 3
800 200 4
750 250 5
700 300 6
650 300 6
600 300 6
550 300 6
500 350 7
450 400 7
450 450 7
450 500 7
450 550 7
450 600 7
450 650 7
400 700 8
350 700 8
300 750 9
250 800 10
200 800 10
150 800 10
100 850 11
100 900 11
50 950 12

SO路径长度:1448.605915
HO路径坐标:
950 50 1
900 100 1
850 150 2
800 200 3
750 250 4
700 300 5
650 300 5
600 300 5
550 300 5
500 350 6
450 400 7
450 450 7
450 500 7
450 550 8
450 600 8
450 650 8
400 700 9
350 700 9
300 750 10
250 800 11
200 850 12
150 900 12
100 950 12
50 950 12

HO路径长度:1419.319522
GWO路径坐标:
950 50 1
900 100 1
850 100 1
800 100 1
800 100 2
800 100 3
750 150 3
800 200 2
750 200 2
700 250 3
650 300 3
600 300 4
600 300 3
550 300 3
500 350 3
500 400 4
450 450 4
450 500 4
500 550 4
550 600 5
550 650 5
500 650 6
500 650 5
450 650 6
400 700 7
350 700 8
300 700 9
250 700 9
250 750 9
250 750 10
200 800 11
200 800 12
200 800 13
200 850 13
200 900 13
150 950 13
100 950 13
50 950 12