复杂城市地形中无人机避障的三维航迹规划：基于烟花算法(FWA)的Matlab代码实现与障碍物及起始点修改策略,复杂城市地形下无人机避障的三维航迹规划：基于烟花算法(FWA)的灵活修改障碍物及起始点的M
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复杂城市地形中无人机避障的三维航迹规划：基于烟花算法(FWA)的Matlab代码实现与障碍物及起始点修改策略,复杂城市地形下无人机避障的三维航迹规划：基于烟花算法(FWA)的灵活修改障碍物及起始点的Matlab代码实现,烟花算法(FWA)的复杂城市地形下无人机避障三维航迹规划，可以修改障碍物及起始点（Matlab代码）,核心关键词：烟花算法(FWA); 复杂城市地形; 无人机避障; 三维航迹规划; 修改障碍物及起始点; Matlab代码。,FWA算法在复杂地形下无人机三维避障规划研究 <link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/css/base.min.css" rel="stylesheet"/><link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/css/fancy.min.css" rel="stylesheet"/><link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/90372120/2/raw.css" rel="stylesheet"/><div id="sidebar" style="display: none"><div id="outline"></div></div><div class="pf w0 h0" data-page-no="1" id="pf1"><div class="pc pc1 w0 h0"><img alt="" class="bi x0 y0 w1 h1" src="/image.php?url=https://csdnimg.cn/release/download_crawler_static/90372120/bg1.jpg"/><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">**<span class="ff2">烟花算法<span class="ff3">（</span></span>FWA<span class="ff3">）<span class="ff2">在复杂城市地形下无人机避障三维航迹规划的<span class="_ _0"> </span></span></span>Matlab<span class="_ _1"> </span><span class="ff2">代码实现</span>**</div><div class="t m0 x1 h2 y2 ff2 fs0 fc0 sc0 ls0 ws0">一<span class="ff4">、</span>引言</div><div class="t m0 x1 h2 y3 ff2 fs0 fc0 sc0 ls0 ws0">随着无人机技术的快速发展<span class="ff3">，</span>其在复杂城市地形下的应用越来越广泛<span class="ff4">。</span>然而<span class="ff3">，</span>在执行任务时<span class="ff3">，</span>无人机</div><div class="t m0 x1 h2 y4 ff2 fs0 fc0 sc0 ls0 ws0">需要面对各种障碍物和地形变化<span class="ff3">，</span>这对其航迹规划提出了更高的要求<span class="ff4">。</span>烟花算法<span class="ff3">（<span class="ff1">Firework </span></span></div><div class="t m0 x1 h2 y5 ff1 fs0 fc0 sc0 ls0 ws0">Algorithm<span class="ff3">，<span class="ff2">简称<span class="_ _0"> </span></span></span>FWA<span class="ff3">）<span class="ff2">作为一种启发式搜索算法</span>，<span class="ff2">在解决复杂环境下的路径规划问题中展现出较好</span></span></div><div class="t m0 x1 h2 y6 ff2 fs0 fc0 sc0 ls0 ws0">的效果<span class="ff4">。</span>本文将探讨烟花算法在复杂城市地形下无人机避障三维航迹规划的应用<span class="ff3">，</span>并附上<span class="_ _0"> </span><span class="ff1">Matlab<span class="_ _1"> </span></span>代</div><div class="t m0 x1 h2 y7 ff2 fs0 fc0 sc0 ls0 ws0">码<span class="ff4">。</span></div><div class="t m0 x1 h2 y8 ff2 fs0 fc0 sc0 ls0 ws0">二<span class="ff4">、</span>问题描述</div><div class="t m0 x1 h2 y9 ff2 fs0 fc0 sc0 ls0 ws0">假设在一个复杂城市环境中<span class="ff3">，</span>无人机的起始点和目标点已知<span class="ff3">，</span>但其间存在多个障碍物<span class="ff4">。</span>无人机的任务</div><div class="t m0 x1 h2 ya ff2 fs0 fc0 sc0 ls0 ws0">是在不与任何障碍物相撞的前提下<span class="ff3">，</span>规划出一条从起始点到目标点的最优三维航迹<span class="ff4">。</span>我们将通过烟花</div><div class="t m0 x1 h2 yb ff2 fs0 fc0 sc0 ls0 ws0">算法来解决这个问题<span class="ff4">。</span></div><div class="t m0 x1 h2 yc ff2 fs0 fc0 sc0 ls0 ws0">三<span class="ff4">、</span>烟花算法简介</div><div class="t m0 x1 h2 yd ff2 fs0 fc0 sc0 ls0 ws0">烟花算法是一种启发式搜索算法<span class="ff3">，</span>其基本思想是通过模拟烟花爆炸的过程来寻找最优解<span class="ff4">。</span>算法开始时</div><div class="t m0 x1 h2 ye ff3 fs0 fc0 sc0 ls0 ws0">，<span class="ff2">会随机生成一组初始解</span>，<span class="ff2">并按照一定的规则进行迭代更新</span>，<span class="ff2">最终找到最优解<span class="ff4">。</span></span></div><div class="t m0 x1 h2 yf ff2 fs0 fc0 sc0 ls0 ws0">四<span class="ff4">、</span>算法实现步骤</div><div class="t m0 x1 h2 y10 ff1 fs0 fc0 sc0 ls0 ws0">1.<span class="_ _2"> </span><span class="ff2">初始化<span class="ff3">：</span>设定无人机的起始点<span class="ff4">、</span>目标点以及障碍物的位置信息<span class="ff4">。</span>同时<span class="ff3">，</span>设置烟花算法的相关参数</span></div><div class="t m0 x2 h2 y11 ff3 fs0 fc0 sc0 ls0 ws0">，<span class="ff2">如初始解的数量<span class="ff4">、</span>搜索的迭代次数等<span class="ff4">。</span></span></div><div class="t m0 x1 h2 y12 ff1 fs0 fc0 sc0 ls0 ws0">2.<span class="_ _2"> </span><span class="ff2">生成初始解<span class="ff3">：</span>随机生成一组三维航迹作为初始解<span class="ff3">，</span>确保初始解不与任何障碍物相撞<span class="ff4">。</span></span></div><div class="t m0 x1 h2 y13 ff1 fs0 fc0 sc0 ls0 ws0">3.<span class="_ _2"> </span><span class="ff2">评估函数<span class="ff3">：</span>定义一个评估函数<span class="ff3">，</span>用于评估每条航迹的质量<span class="ff4">。</span>评估函数可以考虑航迹的长度<span class="ff4">、</span>平滑</span></div><div class="t m0 x2 h2 y14 ff2 fs0 fc0 sc0 ls0 ws0">度以及与障碍物的距离等因素<span class="ff4">。</span></div><div class="t m0 x1 h2 y15 ff1 fs0 fc0 sc0 ls0 ws0">4.<span class="_ _2"> </span><span class="ff2">烟花爆炸<span class="ff3">：</span>根据评估函数的结果<span class="ff3">，</span>对当前解进行</span>“<span class="ff2">爆炸</span>”<span class="ff2">操作<span class="ff3">，</span>生成新的解集<span class="ff4">。</span>新解集的生成可</span></div><div class="t m0 x2 h2 y16 ff2 fs0 fc0 sc0 ls0 ws0">以通过对当前解进行局部搜索<span class="ff4">、</span>交换部分元素等方式实现<span class="ff4">。</span></div><div class="t m0 x1 h2 y17 ff1 fs0 fc0 sc0 ls0 ws0">5.<span class="_ _2"> </span><span class="ff2">更新解集<span class="ff3">：</span>将新生成的解集与当前解集进行对比<span class="ff3">，</span>保留质量更高的解<span class="ff4">。</span>同时<span class="ff3">，</span>为了保证解的多样</span></div><div class="t m0 x2 h2 y18 ff2 fs0 fc0 sc0 ls0 ws0">性<span class="ff3">，</span>可以保留一定数量的较差解<span class="ff4">。</span></div><div class="t m0 x1 h2 y19 ff1 fs0 fc0 sc0 ls0 ws0">6.<span class="_ _2"> </span><span class="ff2">迭代更新<span class="ff3">：</span>重复步骤<span class="_ _0"> </span></span>4<span class="_ _1"> </span><span class="ff2">和<span class="_ _0"> </span></span>5<span class="ff3">，<span class="ff2">直到达到预设的迭代次数或找到满足要求的最优解<span class="ff4">。</span></span></span></div><div class="t m0 x1 h2 y1a ff1 fs0 fc0 sc0 ls0 ws0">7.<span class="_ _2"> </span><span class="ff2">输出结果<span class="ff3">：</span>将最优解作为无人机的航迹规划结果<span class="ff3">，</span>控制无人机按照规划的航迹进行飞行<span class="ff4">。</span></span></div><div class="t m0 x1 h2 y1b ff2 fs0 fc0 sc0 ls0 ws0">五<span class="ff4">、<span class="ff1">Matlab<span class="_ _1"> </span></span></span>代码实现<span class="ff3">（</span>伪代码<span class="ff3">）</span></div><div class="t m0 x1 h3 y1c ff1 fs0 fc0 sc0 ls0 ws0">```matlab</div><div class="t m0 x1 h2 y1d ff1 fs0 fc0 sc0 ls0 ws0">% <span class="ff2">初始化参数及数据</span></div></div><div class="pi" data-data='{"ctm":[1.568627,0.000000,0.000000,1.568627,0.000000,0.000000]}'></div></div>