1 简介

2 部分代码

function printall3D(model,dataa,name)Coorall=model.Coordinate(model.BestResult.roadall,:);Coordinate=model.Coordinate;Gridxyz=model.Gridxy;Map=model.Map;Gridwidth=model.Gridwidth;figurehold onfor i=1:Gridxyz(1)    for j=1:Gridxyz(2)        for z=1:Gridxyz(3)            if Map(i,j,z)==2                pp=[i-1,j-1,z-1];pa=[i,j,z];                V = [pp;pa(1) pp(2:3);pp(1) pa(2) pp(3);pp(1:2) pa(3);                    pa;pp(1) pa(2:3);pa(1) pp(2) pa(3);pa(1:2) pp(3)];                F = [1 2 7 4;1 3 6 4;1 2 8 3;                    5 8 3 6;5 7 2 8;5 6 4 7];                patch('Faces',F,'Vertices',V,'FaceColor','r',...                    'LineWidth',1.5,'EdgeColor','w');            elseif  Map(i,j,z)==1                pp=[i-1,j-1,z-1];pa=[i,j,z];                V = [pp;pa(1) pp(2:3);pp(1) pa(2) pp(3);pp(1:2) pa(3);                    pa;pp(1) pa(2:3);pa(1) pp(2) pa(3);pa(1:2) pp(3)];                F = [1 2 7 4;1 3 6 4;1 2 8 3;                    5 8 3 6;5 7 2 8;5 6 4 7];                patch('Faces',F,'Vertices',V,'FaceColor','b',...                    'LineWidth',1.5,'EdgeColor','w');            end        end    endendplot3(Coorall(:,1)-0.5,Coorall(:,2)-0.5,Coorall(:,3)-0.5,'linestyle','-','color','r','linewidth',5);stcoor=Coordinate(model.StartingP,:);tercoor=Coordinate(model.TerminalP,:);pp=stcoor-1;pa=stcoor;V = [pp;pa(1) pp(2:3);pp(1) pa(2) pp(3);pp(1:2) pa(3);    pa;pp(1) pa(2:3);pa(1) pp(2) pa(3);pa(1:2) pp(3)];F = [1 2 7 4;1 3 6 4;1 2 8 3;    5 8 3 6;5 7 2 8;5 6 4 7];l1(1)=patch('Faces',F,'Vertices',V,'FaceColor','k',...    'LineWidth',1.5,'EdgeColor','k');pp=tercoor-1;pa=tercoor;V = [pp;pa(1) pp(2:3);pp(1) pa(2) pp(3);pp(1:2) pa(3);    pa;pp(1) pa(2:3);pa(1) pp(2) pa(3);pa(1:2) pp(3)];F = [1 2 7 4;1 3 6 4;1 2 8 3;    5 8 3 6;5 7 2 8;5 6 4 7];l1(2)=patch('Faces',F,'Vertices',V,'FaceColor','r',...    'LineWidth',1.5,'EdgeColor','k');legend(l1,{'起点','终点'})xlabel( 'X/米')ylabel( 'Y/米')zlabel( 'Z/米')title([name,'栅格图']);StartingP=dataa.Coorallreal(model.StartingP,:);TerminalP=dataa.Coorallreal(model.TerminalP,:);roadalla=dataa.Coorallreal(model.BestResult.roadall,:);figurehold onC = gradient(dataa.ht);mesh(dataa.xalln,dataa.yalln,dataa.ht,C)l1(1)=plot3(StartingP(1),StartingP(2),StartingP(3),'linestyle','none','color','k','marker','s','markeredgecolor','k','markerfacecolor','k','markersize',10);l1(2)=plot3(TerminalP(1),TerminalP(2),TerminalP(3),'linestyle','none','color','r','marker','s','markeredgecolor','r','markerfacecolor','r','markersize',10);plot3(roadalla(:,1),roadalla(:,2),roadalla(:,3),'linestyle','-','color','r','linewidth',5);[x ,y, z]=sphere();for i=1:size(dataa.weapon,1)    l1(3)=surf(dataa.weapon(i,4)*x+dataa.weapon(i,1),dataa.weapon(i,4)*y+dataa.weapon(i,2),...        dataa.weapon(i,4)*z+dataa.weapon(i,3));%绘制半径为2的球endxlabel( 'X/米')ylabel( 'Y/米')zlabel( 'Z/米')legend(l1,{'起点','终点','武器威胁区'})xlim([dataa.Xrange(1),dataa.Xrange(2)]);ylim([dataa.Yrange(1),dataa.Yrange(2)]);title([name,'散点图']);%% 画图lastall=(roadalla(2:end,:)+roadalla(1:end-1,:))./2;roadallaall=zeros(size(roadalla,1)*2-1,3);roadallaall(1:2:end,:)=roadalla;roadallaall(2:2:end,:)=lastall;xroadindex=roadallaall(:,1)';yroadindex=roadallaall(:,2)';zroadindex=roadallaall(:,3)';bize=roadallaall(1,:);for i=2:2:size(roadallaall,1)-3    [xx,yy,zz]=bezier3(xroadindex(i:i+2),yroadindex(i:i+2),zroadindex(i:i+2),10,3);    bize=[bize;[xx',yy',zz']];endbize=[bize;roadallaall(end,:)];figurehold onC = gradient(dataa.ht);mesh(dataa.xalln,dataa.yalln,dataa.ht,C)l1(1)=plot3(StartingP(1),StartingP(2),StartingP(3),'linestyle','none','color','k','marker','s','markeredgecolor','k','markerfacecolor','k','markersize',10);l1(2)=plot3(TerminalP(1),TerminalP(2),TerminalP(3),'linestyle','none','color','r','marker','s','markeredgecolor','r','markerfacecolor','r','markersize',10);plot3(bize(:,1),bize(:,2),bize(:,3),'linestyle','-','color','r','linewidth',5);[x ,y, z]=sphere();for i=1:size(dataa.weapon,1)    l1(3)=surf(dataa.weapon(i,4)*x+dataa.weapon(i,1),dataa.weapon(i,4)*y+dataa.weapon(i,2),...        dataa.weapon(i,4)*z+dataa.weapon(i,3));%绘制半径为2的球endxlabel( 'X/米')ylabel( 'Y/米')zlabel( 'Z/米')legend(l1,{'起点','终点','武器威胁区'})xlim([dataa.Xrange(1),dataa.Xrange(2)]);ylim([dataa.Yrange(1),dataa.Yrange(2)]);title([name,'散点图']);

3 运行结果

4 参考文献

[1]江冰, 郭彭. 基于粒子群算法的三维无人机路径规划方法及规划系统:, CN112230678A[P]. 2021.

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部分理论引用网络文献，若有侵权联系博主删除。