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
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、高尔夫优化算法GOA简介
高尔夫优化算法（Golf Optimization Algorithm，GOA）由Montazeri Z等人于2023年提出，该算法模拟高尔夫运动过程中的球员击打高尔夫所采取的战术策略，能够有效平衡全局搜索和局部搜索的能力。
多目标优化算法：基于非支配排序的高尔夫优化算法（NSGOA）MATLAB-CSDN博客
参考文献：
[1] Montazeri Z, Niknam T, Aghaei J, Malik OP, Dehghani M, Dhiman G. Golf Optimization Algorithm: A New Game-Based Metaheuristic Algorithm and Its Application to Energy Commitment Problem Considering Resilience. Biomimetics. 2023; 8(5):386. Biomimetics | Free Full-Text | Golf Optimization Algorithm: A New Game-Based Metaheuristic Algorithm and Its Application to Energy Commitment Problem Considering Resilience
三、高尔夫优化算法GOA求解无人机路径规划
（1）部分代码
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='F1'; %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]=GOA(SearchAgents_no,Max_iteration,lb,ub,dim,fobj);%算法优化求解
AlgorithmName='GOA';%算法名字
figure
semilogy(curve,'Color','r','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
（2）部分结果
无人机飞行路径坐标：
1.0000000e+01 1.0000000e+01 8.0000000e+01 1.0417311e+01 1.0992468e+01 8.0871352e+01 1.0811152e+01 1.1890804e+01 8.1671955e+01 1.1182905e+01 1.2698696e+01 8.2404581e+01 1.1533953e+01 1.3419832e+01 8.3072000e+01 1.1865679e+01 1.4057899e+01 8.3676983e+01 1.2179465e+01 1.4616585e+01 8.4222303e+01 1.2476695e+01 1.5099577e+01 8.4710729e+01 1.2758750e+01 1.5510564e+01 8.5145034e+01 1.3027014e+01 1.5853232e+01 8.5527987e+01 1.3282869e+01 1.6131270e+01 8.5862361e+01 1.3527699e+01 1.6348365e+01 8.6150927e+01 1.3762885e+01 1.6508205e+01 8.6396455e+01 1.3989810e+01 1.6614477e+01 8.6601717e+01 1.4209859e+01 1.6670869e+01 8.6769485e+01 1.4424412e+01 1.6681069e+01 8.6902528e+01 1.4634852e+01 1.6648764e+01 8.7003619e+01 1.4842564e+01 1.6577642e+01 8.7075528e+01 1.5048928e+01 1.6471390e+01 8.7121027e+01 1.5255329e+01 1.6333697e+01 8.7142887e+01 1.5463148e+01 1.6168249e+01 8.7143879e+01 1.5673768e+01 1.5978735e+01 8.7126774e+01 1.5888573e+01 1.5768842e+01 8.7094344e+01 1.6108944e+01 1.5542258e+01 8.7049358e+01 1.6336265e+01 1.5302670e+01 8.6994590e+01 1.6571919e+01 1.5053766e+01 8.6932809e+01 1.6817287e+01 1.4799234e+01 8.6866787e+01 1.7073754e+01 1.4542761e+01 8.6799295e+01 1.7342700e+01 1.4288035e+01 8.6733105e+01 1.7625510e+01 1.4038744e+01 8.6670987e+01 1.7923566e+01 1.3798574e+01 8.6615712e+01 1.8238251e+01 1.3571215e+01 8.6570052e+01 1.8570947e+01 1.3360353e+01 8.6536778e+01 1.8923037e+01 1.3169676e+01 8.6518661e+01 1.9295905e+01 1.3002872e+01 8.6518473e+01 1.9690931e+01 1.2863628e+01 8.6538983e+01 2.0109501e+01 1.2755633e+01 8.6582965e+01 2.0552995e+01 1.2682572e+01 8.6653187e+01 2.1022797e+01 1.2648136e+01 8.6752423e+01 2.1520290e+01 1.2656010e+01 8.6883443e+01 2.2046856e+01 1.2709882e+01 8.7049018e+01 2.2603878e+01 1.2813441e+01 8.7251919e+01 2.3192738e+01 1.2970374e+01 8.7494917e+01 2.3814821e+01 1.3184368e+01 8.7780785e+01 2.4471507e+01 1.3459111e+01 8.8112292e+01 2.5164180e+01 1.3798291e+01 8.8492210e+01 2.5894223e+01 1.4205596e+01 8.8923310e+01 2.6663019e+01 1.4684712e+01 8.9408363e+01 2.7471949e+01 1.5239328e+01 8.9950141e+01 2.8322398e+01 1.5873132e+01 9.0551414e+01 2.9215747e+01 1.6589810e+01 9.1214954e+01 3.0153379e+01 1.7393051e+01 9.1943532e+01 3.1136677e+01 1.8286542e+01 9.2739919e+01 3.2167025e+01 1.9273971e+01 9.3606886e+01 3.3245803e+01 2.0359025e+01 9.4547205e+01 3.4374396e+01 2.1545392e+01 9.5563646e+01 3.5554186e+01 2.2836761e+01 9.6658981e+01 3.6786556e+01 2.4236817e+01 9.7835980e+01 3.8072888e+01 2.5749250e+01 9.9097416e+01 3.9414565e+01 2.7377746e+01 1.0044606e+02 4.0812970e+01 2.9125994e+01 1.0188468e+02 4.2269486e+01 3.0997680e+01 1.0341605e+02 4.3785495e+01 3.2996493e+01 1.0504294e+02 4.5362380e+01 3.5126120e+01 1.0676812e+02 4.7001524e+01 3.7390250e+01 1.0859437e+02 4.8704310e+01 3.9792568e+01 1.1052445e+02 5.0472120e+01 4.2336764e+01 1.1256114e+02 5.2306336e+01 4.5026524e+01 1.1470720e+02 5.4208343e+01 4.7865537e+01 1.1696541e+02 5.6179522e+01 5.0857490e+01 1.1933853e+02 5.8221256e+01 5.4006070e+01 1.2182935e+02 6.0334929e+01 5.7314966e+01 1.2444063e+02 6.2521922e+01 6.0787865e+01 1.2717514e+02 6.4783618e+01 6.4428454e+01 1.3003566e+02 6.7121400e+01 6.8240422e+01 1.3302495e+02 6.9536652e+01 7.2227455e+01 1.3614578e+02 7.2030754e+01 7.6393242e+01 1.3940093e+02 7.4605092e+01 8.0741470e+01 1.4279317e+02 7.7261046e+01 8.5275827e+01 1.4632527e+02 8.0000000e+01 9.0000000e+01 1.5000000e+02
